Title
Developing an energy effective autonomous USV for undertaking missions at the highlands of Peru
Date Issued
2018
Access level
restricted access
Resource Type
conference paper
Author(s)
Song R.
Liu Y.
Bucknall R.
Publisher(s)
Institute of Electrical and Electronics Engineers Inc.
Abstract
This paper describes a novel multi-task allocation method for the autonomous navigation to improve the efficiency for executing mission considering an Unmanned Surface Vehicle (USV) developed by the Pontificia Universidad Catolica del Peru (PUCP). The new method is developed based upon the self-organizing map (SOM) algorithm, with the consideration of the priorities of the sample stations that USV need to visit, as well as the lattice distances from the sample stations to the start point. Using this new method, an optimized order of visiting sequence can be calculated according to the battery energy limit of the USV. The new multi-task allocation method has been verified in simulation environments with results proving the effectiveness and capabilities of the system. © 2018 IEEE.
Number
3
Language
English
Subjects
Scopus EID
2-s2.0-85060302485
Source
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
ISBN of the container
9781538616543
Conference
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Sponsor(s)
ACKNOWLEDGMENT This work is supported under grant No. 009-2016 from the National Fund for Scientific and Technological Development, FONDECYT from CIENCIACTIVA of CONCYTEC and by the Embassy of the United Kingdom in Peru. The authors also acknowledge the support from the Pontifica Universidad Catolicadel Peru, Department of Engineering, Section of Mechatronics, and University College London, Department of Mechanical Engineering.
Sources of information:
Directorio de Producción Científica