Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results

Document Type : Research Paper

Authors

1 M.Sc. Student, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran

2 Associate Professor, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran

3 Professor, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran

4 Ph.D. Candidate, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran

5 Graduated Student, Agricultural Machinery Engineering Department, Faculty of Agricultural Engineering and Technology, University College of Agriculture and Natural Resources, University of Tehran, Karaj, Iran

Abstract

Nowadays, the growth of in-vehicle and off-road vehicle technology is significant and the need to develop its related infrastructure to maximize their capacity for land, sea and air transportation is essential and unavoidable. It is time consuming and costly to monitoring the environment in water, earth and air conditions for a safe operation, without the use of robots. With automatic monitoring, operations can be performed with the least error and 24 hours a day. So the purpose of this research is to develop and evaluate a composite algorithm for navigating an off-road vehicle (Surface Vehicle) and compare it with the results obtained from computer simulations, to check the accuracy of this algorithm. This robot boat is designed and developed for hydrographic construction could navigate and perform hydrographic operations around the clock and fully autonomous without any supervision. Comparison between experimental and simulation results showed that the simulated algorithm had acceptable accuracy and could navigate experimentally. The Standard Deviation (SD) for practical test was below 0.5 m.

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References

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Iranian Journal of Biosystems Engineering
Volume 49, Issue 3
November 2018
Pages 353-366

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History

  • Receive Date: 04 July 2017
  • Revise Date: 21 January 2018
  • Accept Date: 07 February 2018

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