An experimental study of station keeping on an underactuated ASV

  title={An experimental study of station keeping on an underactuated ASV},
  author={Arvind Pereira and Jnaneshwar Das and Gaurav S. Sukhatme},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
Dynamic positioning is an important application for marine vehicles that do not have the luxury of anchoring or mooring themselves. Such vehicles are usually large and have arrays of thrusters that allow for controllability in the sway as well as the surge and yaw axes. Most smaller boats however, are underactuated and do not possess control in the sway direction. This makes the control problem significantly more challenging. We address the station keeping problem for a small autonomous surface… CONTINUE READING
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