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Unmanned Surface Vehicle Simulator with Realistic Environmental Disturbances.
Paravisi, Marcelo; H Santos, Davi; Jorge, Vitor; Heck, Guilherme; Gonçalves, Luiz Marcos; Amory, Alexandre.
Afiliação
  • Paravisi M; Instituto Federal de Educação, Ciência e Tecnologia do Rio Grande do Sul, Osório RS 95520-000, Brazil. marcelo.paravisi@acad.pucrs.br.
  • H Santos D; Pontíficia Universidade Católica, Porto Alegre RS 90619-900, Brazil. marcelo.paravisi@acad.pucrs.br.
  • Jorge V; Universidade Federal do Rio Grande do Norte, Natal RN 59078-970, Brazil. davihenriqueds@gmail.com.
  • Heck G; Pontíficia Universidade Católica, Porto Alegre RS 90619-900, Brazil. vitormj@ita.br.
  • Gonçalves LM; Electronics Engineering Division, Instituto Tecnológico de Aeronáutica, São José dos Campos SP 12228-900, Brazil. vitormj@ita.br.
  • Amory A; Pontíficia Universidade Católica, Porto Alegre RS 90619-900, Brazil. guilherme.heck@acad.pucrs.br.
Sensors (Basel) ; 19(5)2019 Mar 02.
Article em En | MEDLINE | ID: mdl-30832355
The use of robotics in disaster scenarios has become a reality. However, an Unmanned Surface Vehicle (USV) needs a robust navigation strategy to face unpredictable environmental forces such as waves, wind, and water current. A starting step toward this goal is to have a programming environment with realistic USV models where designers can assess their control strategies under different degrees of environmental disturbances. This paper presents a simulation environment integrated with robotic middleware which models the forces that act on a USV in a disaster scenario. Results show that these environmental forces affect the USV's trajectories negatively, indicating the need for more research on USV control strategies considering harsh environmental conditions. Evaluation scenarios were presented to highlight specific features of the simulator, including a bridge inspection scenario with fast water current and winds.
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Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Idioma: En Revista: Sensors (Basel) Ano de publicação: 2019 Tipo de documento: Article País de afiliação: Brasil País de publicação: Suíça
Texto completo
Adicionar na Minha BVS
Imprimir
XML
PubMed Links
Buscar no Google

Texto completo: 1 Coleções: 01-internacional Base de dados: MEDLINE Idioma: En Revista: Sensors (Basel) Ano de publicação: 2019 Tipo de documento: Article País de afiliação: Brasil País de publicação: Suíça