Guidance of Unmanned Surface Vehicles: Experiments in Vehicle Following

Guidance of Unmanned Surface Vehicles: Experiments in Vehicle Following

Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the...

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Bibliographic Details
Published in:IEEE robotics & automation magazine Vol. 19; no. 3; pp. 92 - 102
Main Authors: Bibuli, M., Caccia, M., Lapierre, L., Bruzzone, G.
Format: Journal Article
Language:English
Published: IEEE 01-09-2012
Institute of Electrical and Electronics Engineers
Subjects:
Aircraft navigation
Automatic
Engineering Sciences
Position measurement
Remotely operated vehicles
Robots
Target tracking
Unmanned aerial vehicles
Online Access:Get full text
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Description
Summary:Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the spatial and temporal constraints, giving priority to the former one. The proposed approach is validated experimentally in a harbor area with the help of the prototype USVs ALANIS and Charlie, developed by Consiglio Nazionale delle Ricerche-Istituto di Studi sui Sistemi Intelligenti per lAutomazione (CNR-ISSIA).
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2011.2181784