Simulation and test of an agricultural unmanned airboat maneuverability model

Authors

  • Yufei Liu Hokkaido University
  • Noboru Noguchi Hokkaido University
  • Roshanianfard Fard Ali Hokkaido University

DOI:

https://doi.org/10.25165/ijabe.v10i1.2538

Keywords:

Nomoto model, unmanned airboat, maneuvering simulation, GPS compass, IMU

Abstract

The objective of this research was to determine the Nomoto model maneuverability indices of an agricultural unmanned airboat which was developed to perform autonomous weeding and paddy growth monitoring in a paddy field. A global positioning system compass and an inertial measurement unit were attached on the airboat body to record the position, heading and angular rate. The zig-zag experiments were adopted to obtain the maneuverability indices. The Matlab-based maneuvering simulations were conducted and compared with field experimental data of circular motion test and sinusoidal running test, respectively. The results showed that the trace error was at sub-meter level, which expounds the validity of the obtained maneuvering indices. The proposed Nomoto model maneuverability indices can be used to improve the airboat precise automatic control in paddy field. Keywords: Nomoto model, unmanned airboat, maneuvering simulation, GPS compass, IMU DOI: 10.3965/j.ijabe.20171001.2538 Citation: Liu Y F, Noguchi N, Ali R F. Simulation and test of an agricultural unmanned airboat maneuverability model. Int J Agric & Biol Eng, 2017; 10(1): 88–96.

References

Airboat Afrika: What is an airboat. http://www.airboatafrika. com/about-airboats/. Accessed on [2016-10-13].

Butterman E. A boat that walks on water. The American Society of Mechanical Engineers, 2013. https://www.asme. org/engineering-topics/articles/transportation/boat-that-walks-on-water. Accessed on [2016-10-13].

Abdullah M O, Yek P N Y, Hamdan S, Junaidi E, Kuek P. An airboat for rural riverine transportation and mangrove marine environment applications. International Journal of Research and Reviews in Applied Sciences, 2010; 2(3): 211–222.

Tuna G, Arkoc O, Gulez K. Continuous monitoring of water quality using portable and low-cost approaches. International Journal of Distributed Sensor Networks, 2013; 9(6): 1614–1617.

James R. Winter survey by airboat on the frozen Mississippi river. Dpc Dredging & Port Construction, 1999; 26(2): 12.

Nanson G C, Krusenstierna A V, Bryant E A, Renilson M R. Experimental measurements of river-bank erosion caused by boat-generated waves on the gordon river, Tasmania. River Research and Application, 1994; 9(1): 1–14.

Dumment R. The use of airboat in ice and water rescue emergencies. Fire Engineering, 2004; 157(3): 113–126.

Brouwer C, Prins K, Heibloem M. Irrigation water management: Irrigation scheduling. Training Manual, 1989; (4), FAO, Rome Italy.

Sasaki Y, Kawano M. Current situations and outlook for Japanese paddy cultivating mechanization. North Rice, 2012; 42(6): 1–6. (in Chinese)

Abkowitz M A. Measurement of hydrodynamic characteristic from ship maneuvering trials by system identification. Transactions of Society of Naval Architects and Marine Engineers, 1980; 88: 283–318.

Ogawa A, Kasai H. On the mathematical model of maneuvering motion of ships. International Shipbuilding Progress, 1978; 25(292): 306–319.

Fan S, Lian L, Ren P, Huang G. Oblique towing test and maneuver simulation at low speed and large drift angle for deep sea open-framed remotely operated vehicle. Journal of Hydrodynamics, 2012; 24(2): 280–286.

Kenneth S M. Rotating arm model test facility. The American Society of Mechanical Engineers, 1981, October 14.

Nomoto K. On the analysis of Z-manoeuvre tests. J.S.N.A. (Kansai), 1958; vol 92.

Airboat specification. Yanmar Agri Japan Co., Ltd. http://www.yanmar.co.jp/hokuto/resale/contents.php?seq=149. Accessed on [2016-10-13].

Hemisphere GPS V100 series user guide. http:// hemispheregnss.com/Portals/0/technicaldocumentation/875- 0174-000_b2%20(mnl,ug,v100%20series)_web.pdf. Accessed on [2016-10-13].

VectorNav VN100 user manual. http://www.vectornav. com/docs/default-source/documentation/vn-100-documentation/UM001.pdf?sfvrsn=12. Accessed on [2016-10-13].

Router WXR-2533DHP specification. Buffalo. http://buffalo.jp/product/wireless-lan/ap/wxr-2533dhp/. Accessed on [2016-10-13].

Liu Y, Noguchi N, Yusa T. Development of an unmanned surface vehicle platform for autonomous navigation in paddy field. Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014 August 24-29. pp: 11553-11558.

Savitzky A, Golay M J E. Smoothing and differentiation of data by simplified least squares procedures. Analytical Chemistry, 1967; 36(8): 1627–1639.

Downloads

Published

2017-01-31

How to Cite

Liu, Y., Noguchi, N., & Ali, R. F. (2017). Simulation and test of an agricultural unmanned airboat maneuverability model. International Journal of Agricultural and Biological Engineering, 10(1), 88–96. https://doi.org/10.25165/ijabe.v10i1.2538

Issue

Vol. 10 No. 1 (2017): IJABE

Section

Information Technology, Sensors and Control Systems

License

IJABE is an international peer reviewed open access journal, adopting Creative Commons Copyright Notices as follows.


Authors who publish with this journal agree to the following terms:


  1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

  3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).