A GNC strategy which does not address environmental disturbances is likely to perform poorly in the field without ideal weather conditions, especially in unpredictable disaster scenarios. The difference in the way natural disturbances are modeled has important effects on GNC strategies, especially in small USVs due to their low inertia and small size. Among them, we highlight the absence of a standard modular testing platform for USV Guidance, Navigation and Control (GNC), which makes it challenging to perform comparisons and benchmark these GNC methods.
The lack of a standard simulation environment has adverse effects on USV research. One of the main challenges of such simulators is the requirement to tackle complex environmental disturbances such as waves, winds and water currents. In spite of their importance in numerous tasks, this paper shows that the ability to simulate USVs remains rare in popular robotics simulation frameworks.
USVs offer significant advantages over other robotic platforms (aerial and underwater), including payload and energy capacities, localization resources, as well as access to conventional data communication capabilities. Unmanned Surface Vehicles (USV) are now being used in applications such as search and rescue, containment of oil spills, structural inspection of bridges, tsunami/earthquake forecast, homeland security, and environmental monitoring, among other applications.
0 kommentar(er)
