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

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SALMANI ZAKARIA YOUSEF; MOUSAZADEH HOSSEIN; Alimardani Reza; JAFARBIGLU HAMID; OMRANI ELHAM; MAKHSOOS ASHKAN; KIAPEY ALI

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Journal: Iranian Journal of Biosystems Engineering Year:2018 | Volume:49 | Issue:3 Page(s): 353-366

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Title

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

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Keywords

NavigationQ1

Kalman FilterQ1

SimulationQ2

Autonomous RobotQ1

ControlQ2

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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APA: Copy

SALMANI ZAKARIA, YOUSEF, MOUSAZADEH, HOSSEIN, Alimardani, Reza, JAFARBIGLU, HAMID, OMRANI, ELHAM, MAKHSOOS, ASHKAN, & KIAPEY, ALI. (2018). Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results. IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES), 49(3 ), 353-366. SID. https://sid.ir/paper/144448/en

Vancouver: Copy

SALMANI ZAKARIA YOUSEF, MOUSAZADEH HOSSEIN, Alimardani Reza, JAFARBIGLU HAMID, OMRANI ELHAM, MAKHSOOS ASHKAN, KIAPEY ALI. Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results. IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES)[Internet]. 2018;49(3 ):353-366. Available from: https://sid.ir/paper/144448/en

IEEE: Copy

YOUSEF SALMANI ZAKARIA, HOSSEIN MOUSAZADEH, Reza Alimardani, HAMID JAFARBIGLU, ELHAM OMRANI, ASHKAN MAKHSOOS, and ALI KIAPEY, “Evaluation of a Navigation Algorithm for Robot Boat and Comparison to Simulation Results,” IRANIAN JOURNAL OF BIOSYSTEMS ENGINEERING (IRANIAN JOURNAL OF AGRICULTURAL SCIENCES), vol. 49, no. 3 , pp. 353–366, 2018, [Online]. Available: https://sid.ir/paper/144448/en

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