Modelling and identification of a robust autonomous surface craft for deployment in Harsh ocean environment

Abstract

In this paper, the procedures for modelling and identification of a displacement style catamaran differentially driven Autonomous Surface Craft (ASC) are introduced. A three degrees of freedom mathematical model that includes the surge, sway and yaw motion of the vehicle is used. The surge motion tests were performed at the towing tank of Memorial University. In this indoor experiment, the full scale ASC model was used and it was equipped with the Hagisonic StarGazer™ indoor localization system for measurement of the position and velocity. Following this, the zig-zag tests were performed in the sea trials. All the experimental data were collected using the existed ASC control and communication system and available onboard sensors. The identified ASC model is evaluated and compared with the collected measurement data.