Assessing path-following performance for unmanned marine vehicles with algorithms from numerical commutative algebra

Eleonora Saggini, E. Saggini, M. Torrente, E. Riccomagno, M. Bibuli, G. Bruzzone, M. Caccia, E. Zereik

Risultato della ricerca: Contributo in libroContributo a convegno

2 Citazioni (Scopus)

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 originaleEnglish
Titolo della pubblicazione ospiteProceedings of the 22nd Mediterranean Conference on Control and Automation
Pagine752-757
Numero di pagine6
DOI
Stato di pubblicazionePubblicato - 2014
EventoMED 14 - Palermo
Durata: 16 giu 201419 giu 2016

Convegno

ConvegnoMED 14
CittàPalermo
Periodo16/6/1419/6/16

Keywords

  • Marine robotics, path-following, benchmarks, performance metrics

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