Parameter estimation of the ALBA autonomous surface craft

Melanie M. Valdivia-Fernandez, Brayan A. Monroy-Ochoa, Daniel D. Yanyachi, Juan Carlos Cutipa Luque

Research output: Contribution to journalArticlepeer-review

Abstract

Arequipa region holds the largest extension of the Peruvian littoral at the Pacific sea, has also fresh water resources composed of rivers and lagoons from the coast to the Andes highland. The ALBA vehicle is a low-cost autonomous surface vessel with open source architecture that is being developed to support water monitoring tasks in the region. This article deals with the nonlinear identification problem for an autonomous surface craft and the maximum likelihood estimation approach is used to estimate its parameters. The parametric nonlinear model is considered with simulated and experimental data. The results shows good fitting values when two, three and a maximum four parameters are estimated.

Original languageEnglish
Pages (from-to)687-693
Number of pages7
JournalInternational Journal of Advanced Computer Science and Applications
Volume11
Issue number9
DOIs
StatePublished - 2020

Bibliographical note

Funding Information:
The authors thank the Universidad Nacional de San Agustín de Arequipa for the incentives and financial support given to the construction of the ALBA vehicle, under grant number TP3-2018-UNSA.

Publisher Copyright:
© 2020, Science and Information Organization.

Keywords

  • Autonomous surface craft
  • Maximum likelihood
  • Modeling
  • Nonlinear
  • Parameter estimation
  • Zigzag

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