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In recent years, a large number of works have been presented that seek to solve the problem of road following by autonomous surface vehicles (ASV). In this sense, a non-linear guidance algorithm (NLGL), which has emerged in recent years for use in aerial vehicles, is presented as an interesting option for path tracking by marine vehicles as it does not use the yaw angle to achieve its objectives. control objectives. The biggest problem that these vehicles present when following paths is the influence of environmental disturbances on them, mainly sea currents and wind. To provide a solution to this problem, this paper presents a guidance and control scheme to achieve the following of straight paths by marine vehicles. It presents a cascade structure with an internal yaw velocity loop, which presents a PI controller as the main element, and the NLGL algorithm in the external loop. Thus, achieving that the vehicle follows a straight path with zero error without the need to measure the yaw angle and avoiding the implementation of an integral action in the external loop. An analysis is made of how the marine currents and the wind influence this system from the linearization of the presented scheme, in addition to a stability analysis of the scheme is presented. Finally, the results of simulation and real experiments of the implementation of this scheme in a small ASV are presented, where the vehicle converges to the desired trajectory with precision in the presence of environmental disturbances. [ABSTRACT FROM AUTHOR]

In recent years, a large number of works have been presented that seek to solve the problem of road following by autonomous surface vehicles (ASV). In this sense, a non-linear guidance algorithm (NLGL), which has emerged in recent years for use in aerial vehicles, is presented as an interesting option for path tracking by marine vehicles as it does not use the yaw angle to achieve its objectives. control objectives. The biggest problem that these vehicles present when following paths is the influence of environmental disturbances on them, mainly sea currents and wind. To provide a solution to this problem, this paper presents a guidance and control scheme to achieve the following of straight paths by marine vehicles. It presents a cascade structure with an internal yaw velocity loop, which presents a PI controller as the main element, and the NLGL algorithm in the external loop. Thus achieving that the vehicle follows a straight path with zero error without the need to measure the yaw angle and avoiding the implementation of an integral action in the external loop. An analysis is made of how the marine currents and the wind influence this system from the linearization of the presented scheme, in addition to a stability analysis of the scheme is presented. Finally, the results of simulation and real experiments of the implementation of this scheme in a small ASV are presented, where it can be seen that the vehicle converges to the desired trajectory with precision in the presence of environmental disturbances. [ABSTRACT FROM AUTHOR]

The Cuban sugar industry has experience in the use of Geographic Information Systems (GIS) since 2001, with the limitation of using proprietary tools and without accessible centralized databases. As a higher step, a Spatial Data Infrastructure (IDE-Azcuba) has been developed by Geocuba for the management of the sugarcane areas of Villa Clara. The IDE-Azcuba manages geospatial images from satellites (Sentinel-2) which allows the calculation of various indices of agricultural importance. For its deployment, this application consumes a large amount of data and is relatively highly complex, which makes it inaccessible to sugar companies and producers. As a solution, a Geoportal is proposed as a light version of the IDE-Azcuba, accessible from cell phones, within the reach of sugar producers and companies. The information on sugarcane variables obtained from INICA's technical scientific services has been integrated into the Geoportal. Such as: Territorial Planning, Varieties and Seeds, Integral Weeds, Fertilizers and Amendments; and Phytosanitary. Having a built-in cache version that allows you to work offline with the most important information, directly in the plantations and productive units, where there are major connectivity problems. [ABSTRACT FROM AUTHOR]