A new design concept for a fully actuated unmanned surface vehicle
A new design concept for a fully actuated unmanned surface vehicle
To be effective in their roles, unmanned surface vehicles (USVs) need to be capable of performing a variety of distinct manoeuvres, including trajectory tracking and station keeping. Conventional fully-actuated actuator configuration permits an accurate station-keeping ability at the expense of the hydrodynamic efficiency which may be a critical factor for long-range high-speed operation. This paper presents a new USV design that is optimised for both manoeuvring styles. This attributes to the reconfigurable design that transforms between the under-actuated mode which suits high-speed operation and the fully-actuated mode which is effective for station keeping. In addition, the trimaran design offers wide deck space and great roll stability which is beneficial for a wide range of potential applications. The possible control system is also suggested for utilising multiple actuators that are equipped on the vehicle in the most energy efficient way. Regarding the simulation studies, the propose design has shown to enhance the station-keeping performance even when the USV is subjected to the sway disturbance.
unmanned surface vehicle (USV), ,, allocation, control, fully-actuated,, DESIGN
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Tanakitkorn, Kantapon and Wilson, Philip
(2019)
A new design concept for a fully actuated unmanned surface vehicle.
Ocean Engineering.
(In Press)
Abstract
To be effective in their roles, unmanned surface vehicles (USVs) need to be capable of performing a variety of distinct manoeuvres, including trajectory tracking and station keeping. Conventional fully-actuated actuator configuration permits an accurate station-keeping ability at the expense of the hydrodynamic efficiency which may be a critical factor for long-range high-speed operation. This paper presents a new USV design that is optimised for both manoeuvring styles. This attributes to the reconfigurable design that transforms between the under-actuated mode which suits high-speed operation and the fully-actuated mode which is effective for station keeping. In addition, the trimaran design offers wide deck space and great roll stability which is beneficial for a wide range of potential applications. The possible control system is also suggested for utilising multiple actuators that are equipped on the vehicle in the most energy efficient way. Regarding the simulation studies, the propose design has shown to enhance the station-keeping performance even when the USV is subjected to the sway disturbance.
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USV design and control.pdf
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USV design and contro v2
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Submitted date: 10 April 2019
Accepted/In Press date: 16 July 2019
Keywords:
unmanned surface vehicle (USV), ,, allocation, control, fully-actuated,, DESIGN
Identifiers
Local EPrints ID: 432470
URI: http://eprints.soton.ac.uk/id/eprint/432470
ISSN: 0029-8018
PURE UUID: 6578d331-7605-48c0-b9f5-aaf51e5400e5
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Date deposited: 16 Jul 2019 16:35
Last modified: 16 Mar 2024 07:46
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Author:
Kantapon Tanakitkorn
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