Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle

This work deals with the implementation and evaluation of two low-level motion controllers and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at Loyola Andalusia University. The main objective is to assess the real-time performance and robustness of the observers an...

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Detalles Bibliográficos
Autores: Gantiva Osorio, Manuel Eduardo, Millán Gata, Pablo, Bejarano Pellicer, Guillermo
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/411432
Acceso en línea:https://hdl.handle.net/2117/411432
https://dx.doi.org/10.5821/iwp.2024.23.14149
Access Level:acceso abierto
Palabra clave:Automated vehicles
Autonomous surface vehicles
Extended state observer (ESO)
Marine robotics
Robust control
Vehicles autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
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network_acronym_str ES
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repository_id_str
spelling Implementation and evaluation of state observers and motion controllers in autonomous surface vehicleGantiva Osorio, Manuel EduardoMillán Gata, PabloBejarano Pellicer, GuillermoAutomated vehiclesAutonomous surface vehiclesExtended state observer (ESO)Marine roboticsRobust controlVehicles autònomsÀrees temàtiques de la UPC::Informàtica::RobòticaThis work deals with the implementation and evaluation of two low-level motion controllers and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at Loyola Andalusia University. The main objective is to assess the real-time performance and robustness of the observers and controllers, intending to integrate them as part of path- following controllers or fleet coordination systems.Peer ReviewedSARTI20242024-01-0120242024-07-10journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/411432https://dx.doi.org/10.5821/iwp.2024.23.14149reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4114322026-05-27T15:37:01Z
dc.title.none.fl_str_mv Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
title Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
spellingShingle Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
Gantiva Osorio, Manuel Eduardo
Automated vehicles
Autonomous surface vehicles
Extended state observer (ESO)
Marine robotics
Robust control
Vehicles autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
title_full Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
title_fullStr Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
title_full_unstemmed Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
title_sort Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
dc.creator.none.fl_str_mv Gantiva Osorio, Manuel Eduardo
Millán Gata, Pablo
Bejarano Pellicer, Guillermo
author Gantiva Osorio, Manuel Eduardo
author_facet Gantiva Osorio, Manuel Eduardo
Millán Gata, Pablo
Bejarano Pellicer, Guillermo
author_role author
author2 Millán Gata, Pablo
Bejarano Pellicer, Guillermo
author2_role author
author
dc.subject.none.fl_str_mv Automated vehicles
Autonomous surface vehicles
Extended state observer (ESO)
Marine robotics
Robust control
Vehicles autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Automated vehicles
Autonomous surface vehicles
Extended state observer (ESO)
Marine robotics
Robust control
Vehicles autònoms
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This work deals with the implementation and evaluation of two low-level motion controllers and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at Loyola Andalusia University. The main objective is to assess the real-time performance and robustness of the observers and controllers, intending to integrate them as part of path- following controllers or fleet coordination systems.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-01-01
2024
2024-07-10
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/411432
https://dx.doi.org/10.5821/iwp.2024.23.14149
url https://hdl.handle.net/2117/411432
https://dx.doi.org/10.5821/iwp.2024.23.14149
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv SARTI
publisher.none.fl_str_mv SARTI
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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