{"title":"基于PD的地面无人驾驶车辆线性路径控制方法","authors":"Jianhua Wang, Mengkai Zhao, Xiaoyan Pei, Jianxin Chu","doi":"10.1109/OCEANS-TAIPEI.2014.6964529","DOIUrl":null,"url":null,"abstract":"A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track Error only. The results show that the proposed method performs better than the method using only Cross Track Error when the heading angle error is large.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"PD based DIDO control method for unmanned surface vehicle to follow linear path\",\"authors\":\"Jianhua Wang, Mengkai Zhao, Xiaoyan Pei, Jianxin Chu\",\"doi\":\"10.1109/OCEANS-TAIPEI.2014.6964529\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track Error only. The results show that the proposed method performs better than the method using only Cross Track Error when the heading angle error is large.\",\"PeriodicalId\":114739,\"journal\":{\"name\":\"OCEANS 2014 - TAIPEI\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-11-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"OCEANS 2014 - TAIPEI\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964529\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"OCEANS 2014 - TAIPEI","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964529","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
PD based DIDO control method for unmanned surface vehicle to follow linear path
A method for Unmanned Surface Vehicle (USV) to follow linear path is proposed, considering both position error and course error. Based on dynamic model of the USV which is thrust with twin fixed propellers driven by DC electric motors, Cross Track Error and Line of Sight are combined into DIDO controller based on PD. The simulation experiment is conducted and compared with the method using Cross Track Error only. The results show that the proposed method performs better than the method using only Cross Track Error when the heading angle error is large.
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