Design of Hardware in The Loop System for Autonomous Ship Carrying Point Scan Sensor (Laser Measurement System)

Publication Date : 17/07/2020

Author(s) :

Hany M. Arnaoot, Gamal Abbas Zaghloul.

Volume/Issue :
Volume 1
Issue 1
(07 - 2020)

Abstract :

The main objective of the current work is to provide a method through which different control approaches and arrangement applied to autonomous ships carrying a sensor can be investigated and tested. To achieve this a hardware in the loop system was created. This system includes two models (ship model and sensor model). In the current work a sensor simulation algorithm was created and linked to Nomoto ship mathematical model. A Linear Quadratic Regulator is designed to control simulated ship model. The proposed system was applied by a program to be as close as possible to industrial standard. The program was written as part of the research- to apply suggested simulation algorithm, ship control approach, suggested sensor evaluation and Hardware-in-the-loop system (input and output data through serial port). The simulation algorithm was verified by in field sea trials on a 11m long yacht with two 250hp outboard engines. the sensor used is sick 218 laser measurement system as a sensor. Results show that the IMU sensor error has a great effect on the Laser Measurement system processed data and hence environment detection quality. roll and pitch motion could decrease sensor efficiency dramatically

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