Abstract
A current trend in marine robotics consists of
performance evaluation of Unmanned Marine Vehicles (UMVs)
guidance systems. This paper contributes to this by defining
and testing performance indices and metrics to quantitatively
measure and compare path-following performance. It focuses on
the definition of a new criterion for evaluating the capability
of an Unmanned Surface Vehicle (USV) to follow a desired
generic curvilinear path. The main advantages of the method
are represented by the possibility to compute the proposed index
online and in a very general situation. Theoretical bases of the
presented approach and preliminary results on simulated data
that highlight the versatility of this criterion are presented.
| Lingua originale | English |
|---|---|
| Titolo della pubblicazione ospite | Proceedings of the 22nd Mediterranean Conference on Control and Automation |
| Pagine | 752-757 |
| Numero di pagine | 6 |
| DOI | |
| Stato di pubblicazione | Pubblicato - 2014 |
| Evento | MED 14 - Palermo Durata: 16 giu 2014 → 19 giu 2016 |
Convegno
| Convegno | MED 14 |
|---|---|
| Città | Palermo |
| Periodo | 16/6/14 → 19/6/16 |
Keywords
- Marine robotics, path-following, benchmarks, performance metrics
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