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XueYifan1995 / Real-time-NMPC-for-USVs-CasADi

ICMRE-2021 coference paper codes
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model USV #2

Open bao666liang opened 1 year ago

bao666liang commented 1 year ago

I want to ask, isn't the differential steering used in the paper? Why is there lateral propulsion in the model, and shouldn't the USV be under actuated? Or can 'v' at low speed not be ignored? image

XueYifan1995 commented 1 year ago

Details of dynamic model can be found in'https://www.sciencedirect.com/science/article/pii/S0141118717304819'. The usv is an under actuated system, so the value of parameter 'bv' is very small.

Best Regards 致以诚挚的问候， 薛祎凡| Yifan Xue 哈尔滨工程大学| Harbin Engineering University 船舶工程学院| College of Shipbuilding Engineering 青岛创新发展基地| Qingdao Innovation and Development Base

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I want to ask, isn't the differential steering used in the paper? Why is there lateral propulsion in the model, and shouldn't the USV be under actuated? Or can 'v' at low speed not be ignored?

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bao666liang commented 1 year ago

thank you very much