TY - GEN
T1 - Developing an energy effective autonomous USV for undertaking missions at the highlands of Peru
AU - Song, Rui
AU - Liu, Yuanchang
AU - Balbuena, Jose
AU - Cuellar, Francisco
AU - Bucknall, Richard
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/4
Y1 - 2018/12/4
N2 - 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.
AB - 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.
KW - Autonomous navigation
KW - Energy saving
KW - Highland Peruvian lakes
KW - System identification
KW - Task allocation
UR - http://www.scopus.com/inward/record.url?scp=85060302485&partnerID=8YFLogxK
U2 - 10.1109/OCEANSKOBE.2018.8559261
DO - 10.1109/OCEANSKOBE.2018.8559261
M3 - Conference contribution
AN - SCOPUS:85060302485
T3 - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
BT - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Y2 - 28 May 2018 through 31 May 2018
ER -