In recent years, based on the rising of global personal safety demand and human resource cost considerations, development of\nunmanned vehicles to replace manpower requirement to perform high-risk operations is increasing. In order to acquire useful\nresources under the marine environment, a large boat as an unmanned surface vehicle (USV) was implemented. The USV is\nequipped with automatic navigation features and a complete substitute artificial manipulation. This USV system for exploring\nthe marine environment has more carrying capacity and that measurement system can also be self-designed through a modular\napproach in accordance with the needs for various types of environmental conditions.The investigationwork becomesmore flexible.\nA catamaran hull is adopted as automatic navigation test with CompactRIO embedded system. Through GPS and direction sensor\nwe not only can know the current location of the boat, but also can calculate the distance with a predetermined position and the\nangle difference immediately. In this paper, the design of automatic navigation is calculated in accordance with improved Elman\nneural network (ENN) algorithms. Takagi-Sugeno-Kang (TSK) fuzzy and improved ENN control are applied to adjust required\npower and steering, which allows the hull to move straight forward to a predetermined target position. The route will be free from\noutside influence and realize automatic navigation purpose.
Loading....