Developing an energy effective autonomous USV for undertaking missions at the highlands of Peru

Rui Song, Yuanchang Liu, Jose Balbuena, Francisco Cuellar, Richard Bucknall

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

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.

Original languageEnglish
Title of host publication2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538616543
DOIs
StatePublished - 4 Dec 2018
Event2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 - Kobe, Japan
Duration: 28 May 201831 May 2018

Publication series

Name2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Conference

Conference2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Country/TerritoryJapan
CityKobe
Period28/05/1831/05/18

Keywords

  • Autonomous navigation
  • Energy saving
  • Highland Peruvian lakes
  • System identification
  • Task allocation

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