Abstract
The paper describes the design, implementation, and performance assessment of a navigation system for a small-size robotic twin thruster autonomous surface vessel (ASV). The navigation solution is designed building on a first principles maneuvering model that includes sources of nonlinearity and asymmetry of this class of catamaran robots. The paper illustrates how the proposed model is exploited in the navigation filter design and implementation and it discusses its impact on the overall navigation performance. Experimental results relative to the ULISSE ASV are included and illustrated.
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