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ADAPTATION OF CONTROL LAW OF NON-HOLONOMIC ROBOTS FOR MARINE VESSELS

Ermolaev Artem Aleksandrovich  (PhD student ITMO university, Saint-Petersburg )

Navigation of autonomous robotic vehicles is a difficult task, especially in terms of optimizing trajectories under dynamic constraints. This study is devoted to adapting the control laws of non-holonomic robots to marine vessels for use in navigation through scalar fields, for example, for environmental monitoring. Based on the fundamental work of Professor Matveev on Dubins robots and Professor Fossen on hydrodynamic modeling of marine vessels, this study combines these areas to develop a control system for a catamaran-type vessel. The main goal is to transfer and verify the effectiveness of Matveev's scalar field boundary detection law in the context of open nonlinear matrix-vector models of marine vessels by Fossen.

Keywords:computer simulation, unmanned underwater vehicle, degrees of freedom, hydrodynamics, kinematics, kinetics, maneuvering, swimming in the sea, robotic vessel

 

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Citation link:
Ermolaev A. A. ADAPTATION OF CONTROL LAW OF NON-HOLONOMIC ROBOTS FOR MARINE VESSELS // Современная наука: актуальные проблемы теории и практики. Серия: Естественные и Технические Науки. -2025. -№04. -С. 92-95 DOI 10.37882/2223-2966.2025.04.15
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