Guidance and Motion Control for Automated Berthing of Twin-waterjet Propelled Vessels
| Autor: | Zijing Xu, Roberto Galeazzi |
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| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | Xu, Z & Galeazzi, R 2022, ' Guidance and Motion Control for Automated Berthing of Twin-waterjet Propelled Vessels ', IFAC-PapersOnLine, vol. 55, no. 31, pp. 58-63 . https://doi.org/10.1016/j.ifacol.2022.10.409 |
| ISSN: | 2405-8963 |
| Popis: | The berthing of vessels is a safety critical operation due to tight requirements for precise navigation in the constrained harbor area. This study proposes a novel guidance and motion control algorithm to achieve the automated berthing operation of a twin-waterjet propelled vessel. A three phases guidance algorithm is devised that enables the smooth operation of the vessel between the transition and docking phase. The superior manoeuvrability offered by the twin-waterjet propulsion system provides high precision control of the vessel also at low speed, and the possibility of performing complex manoeuvres in limited space. A sliding mode manoeuvring controller and a two stage trust allocation scheme translate the computed speed and heading set-points into actual control actions. A simulation case study is utilized to verify the feasibility of the proposed berthing strategy. |
| Databáze: | OpenAIRE |
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