science-review.ru
Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440
ISSN 2500-0799
ПИ №ФС77-57440
CONTROL SYSTEM OF AUTONOMOUS SURFACE MINI VEHICLE
153 KB
Article considers the problem of automatic control for autonomous surface mini vehicle. Similar vessels can be useful to perform wide range of tasks including environment monitoring, work on the polluted sites, search and rescue operations. The system of automatic control for the autonomous mini vehicle, realizes the performance of the mission, set from land point of management. Mission is set by the operator in the form of a route which the vehicle has to pass. The architecture of hardware of a control system and navigation is given in paper, the algorithm of management by the mini vehicle and architecture of the software constructed on the basis of client-server model of interaction with weak coherence of components is presented. The results of the natural experiments which have shown the minimum deviations of the actual trajectory of movement of the mini vehicle from set mission and high stability of speed of movement are described.