Developing an autonomous surface ship for sea demining: First steps

Jose M. Giron-Sierra*, Fernando Pereda, Hector Garcia De Marina, Santiago Cifuentes

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Resumé

The paper describes the first steps of the development of an autonomous surface ship for sea demining. The objective is to substitute humans in a dangerous humanitarian task. The research has three main phases. The first one is to develop at laboratory scale the infrastructure for the final system. The second is devoted to medium scale tests in open air scenarios. The third phase is real scale operation. This paper refers to the first phase, in which a'universal control unit' is being developed for autonomous navigation control. Software modules are also under development for on-board control with selflocalization, and for area scanning trajectory generation and then tracking. The vehicle uses a towed fish. Both the towing cable and the fish generate electric and magnetic fields, to cause mine detonation by field influence. This study is made both with simulations and with scale experiments.

OriginalsprogEngelsk
TitelProceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010
Antal sider6
Vol/bind43
ForlagIFAC Secretariat
Publikationsdato1. jan. 2010
Udgave20
Sider91-96
ISBN (Trykt)9783902661883
DOI
StatusUdgivet - 1. jan. 2010

Fingeraftryk

Ships
Fish
Detonation
Cables
Navigation
Electric fields
Trajectories
Magnetic fields
Scanning
Air
Experiments

Citer dette

Giron-Sierra, J. M., Pereda, F., De Marina, H. G., & Cifuentes, S. (2010). Developing an autonomous surface ship for sea demining: First steps. I Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010 (20 udg., Bind 43, s. 91-96). IFAC Secretariat. https://doi.org/10.3182/20100915-3-DE-3008.00008
Giron-Sierra, Jose M. ; Pereda, Fernando ; De Marina, Hector Garcia ; Cifuentes, Santiago. / Developing an autonomous surface ship for sea demining : First steps. Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010. Bind 43 20. udg. IFAC Secretariat, 2010. s. 91-96
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Giron-Sierra, JM, Pereda, F, De Marina, HG & Cifuentes, S 2010, Developing an autonomous surface ship for sea demining: First steps. i Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010. 20 udg, bind 43, IFAC Secretariat, s. 91-96. https://doi.org/10.3182/20100915-3-DE-3008.00008

Developing an autonomous surface ship for sea demining : First steps. / Giron-Sierra, Jose M.; Pereda, Fernando; De Marina, Hector Garcia; Cifuentes, Santiago.

Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010. Bind 43 20. udg. IFAC Secretariat, 2010. s. 91-96.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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Giron-Sierra JM, Pereda F, De Marina HG, Cifuentes S. Developing an autonomous surface ship for sea demining: First steps. I Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems, CAMS2010. 20 udg. Bind 43. IFAC Secretariat. 2010. s. 91-96 https://doi.org/10.3182/20100915-3-DE-3008.00008