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    Wyświetlanie 1-3 z 3
    Tytuł:
    Model of line-of-sight ultraviolet propagation
    Autorzy:
    Li, B.
    Wang, Hongbo
    Mao, Z.
    Dong, Z.
    Zhang, X.
    Powiązania:
    https://bibliotekanauki.pl/articles/174219.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
    Tematy:
    ultraviolet communication
    bipyramid model
    scattering characteristic
    line-of-sight (LOS) communication mode
    Opis:
    The traditional line-of-sight ultraviolet model cannot serve better for link performance study for the reason that the scattering characteristic is often ignored in the modelling process. Therefore, a line-of-sight ultraviolet bipyramid model in combination with transceiver full beam angles and geometrical relationship of the transceiver field of view intersection is established. The theoretical rationality of the bipyramid model in comparison with a traditional line-of-sight model is demonstrated by the classically analytical model for line-of-sight scenario. Based on a bit error rate requirement of voice communication, the effects of transmitting power versus range for three line-of-sight ultraviolet communication modes are further analyzed.
    Źródło:
    Optica Applicata; 2014, 44, 4; 601-610
    0078-5466
    1899-7015
    Pojawia się w:
    Optica Applicata
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Error mitigation algorithm based on bidirectional fitting method for collision avoidance of Unmanned Surface Vehicle
    Autorzy:
    Song, L.
    Chen, Z.
    Mao, Y.
    Dong, Z.
    Xiang, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/260298.pdf
    Data publikacji:
    2018
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    Unmanned Surface Vehicle
    position prediction
    error mitigation
    autoregressive model
    particle swarm optimization (PSO)
    Opis:
    Radars and sensors are essential devices for an Unmanned Surface Vehicle (USV) to detect obstacles. Their precision has improved significantly in recent years with relatively accurate capability to locate obstacles. However, small detection errors in the estimation and prediction of trajectories of obstacles may cause serious problems in accuracy, thereby damaging the judgment of USV and affecting the effectiveness of collision avoidance. In this study, the effect of radar errors on the prediction accuracy of obstacle position is studied on the basis of the autoregressive prediction model. The cause of radar error is also analyzed. Subsequently, a bidirectional adaptive filtering algorithm based on polynomial fitting and particle swarm optimization is proposed to eliminate the observed errors in vertical and abscissa coordinates. Then, simulations of obstacle tracking and prediction are carried out, and the results show the validity of the algorithm. Finally, the method is used to simulate the collision avoidance of USV, and the results show the validity and reliability of the algorithm.
    Źródło:
    Polish Maritime Research; 2018, 4; 13-20
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Path following control of the underactuated USV based on the improved line-of-sight guidance algorithm
    Autorzy:
    Liu, T.
    Dong, Z.
    Du, H.
    Song, L.
    Mao, Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/259559.pdf
    Data publikacji:
    2017
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    unmanned surface vessel (USV)
    path following control
    Serret-Frenet coordinate frame
    underactuated system
    improved lineof-sight guidance algorithm
    nonlinear backstepping method
    Opis:
    The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.
    Źródło:
    Polish Maritime Research; 2017, 1; 3-11
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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