Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles

Belleter, D.J.W.; Braga, Juan C.; Pettersen, Kristin Y.

doi:10.3389/frobt.2019.00035

Cited by 4 publications

(1 citation statement)

References 35 publications

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“…Several works in the literature deal with the theoretical idealisation and design of aided-navigation follow-theleader control systems (Caccia et al, 2008;Encarnação and Pascoal, 2001;Ghommam and Saad, 2018;Pettersen and Nijmeijer, 1998;Breivik et al, 2008;Xie et al, 2018;Bibuli et al, 2012;Chen et al, , 2018, but most of them remain simulation-based, and not fully-contextualized with real vessel dynamics and modelling. Amongst them, many parties work with experimental demonstration of the trustworthiness of the algorithms (Schiaretti et al, 2017b) but, in any case, only few presented results for follow-the-leader techniques (Bibuli et al, 2009;Zhang et al, 2019;Belleter et al, 2019). In particular, almost no model experiments in an outdoor GNSS-INS based navigation systems exist.…”

Section: Introductionmentioning

confidence: 99%

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Piaggio¹,

Garofano²,

Donnarumma³

et al. 2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented. A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario with model scale tugs. The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised path planning, guidance, and control sequence evaluation are dealt with at a remote ground station. In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys, and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for the tug master’s lucidity and alertness, while reducing avoidable risks. At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness of the proposed control logic.

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Section: Introductionmentioning

confidence: 99%

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Piaggio¹,

Garofano²,

Donnarumma³

et al. 2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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Coordinated Path Following for Multiple Underactuated Surface Vehicles with Error Constraints

Wang,

Qu,

Chen

et al. 2023

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

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Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments

Piaggio,

Garofano,

Donnarumma

et al. 2023

IEEE J. Oceanic Eng.

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A novel follow-the-leader approach for azimuthdriven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed-regulation allows to track its velocity. Track generation, guidance, navigation, and control modules are designed and assembled to be executed on-board in real time. The results of an outdoor experimental campaign are illustrated to show the effectiveness of the proposed approach. Index Terms-Azimuth-drive propulsion, escort tugs, follow-theleader control, line of sight (LOS), track keeping. I. INTRODUCTIONM OST of the operational life of sailing vessels consists in tracking a predetermined path in restricted and open waters, according to complex traffic management constraints and risks [1]. The capability of forming convoys and following a leading target-vessel within its wake is a valuable feature in both blue seas and busy/restricted areas, such as inland waterways and harbors [2]. In this scenario, the two main challenges are to steer, while keeping off-track tolerances, and to tune the speed according to the leader. Such objectives need to be reached with high accuracy and are crucial to safely exploit the viable inland waterways' routes and minimize the sailing delays and accidents [3], [4].

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Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles

Cited by 4 publications

References 35 publications

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels

Coordinated Path Following for Multiple Underactuated Surface Vehicles with Error Constraints

Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments

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