Statement of the Problem of Control of an Autonomous Surface Vessel for Inland Waterways

M. A. Kudrov, K. D. Bukharov, D. Makhotkin, R. S. Aivazov
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Abstract

Development of autonomous (uncrewed) surface vessels for commercial, industrial, and auxiliary fleet is currently one of the most rapidly advancing transport technologies. The key issue of its implementation is creation of an integrated control system (ICS) of safe navigation of uncrewed surface vehicles (USV) in automatic mode along the route. Then, it is necessary to keep in mind the features of maritime navigation and inland navigation.A performed analytical review of basic heading and speed control algorithms allowed revealing the main problems referring to development of an integrated control system for an USV. The statement of the control problem is followed by enlisting directions for further research.
内河自主水面舰艇控制问题说明
为商业、工业和辅助船队开发自动(无人驾驶)水面舰艇是目前发展最迅速的运输技术之一。其实施的关键问题是创建一个综合控制系统(ICS),使无人驾驶水面车辆(USV)在自动模式下沿线安全航行。通过对基本航向和速度控制算法的分析研究,可以揭示为 USV 开发集成控制系统的主要问题。在阐述了控制问题之后,还列出了进一步研究的方向。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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