000007717 001__ 7717
000007717 005__ 20240626123057.0
000007717 02470 $$2doi$$a10.24868/issn.2631-8741.2018.004
000007717 035__ $$a2536882
000007717 037__ $$aGENERAL
000007717 245__ $$aAn Advanced Guidance & Control System for an Unmanned Vessel with Azimuthal Thrusters
000007717 269__ $$a2018-10-02
000007717 336__ $$aConference Proceedings
000007717 520__ $$aThe proposed paper presents the design and development of the combined guidance & control strategies for the autonomous navigation of an unmanned vessel characterized by azimuth-based thrust architecture. Autonomous Marine Vehicles (AMVs) are consolidates technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the capabilities of AMVs have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessel, that are taking place thanks to a number of technological research projects. The employment of new concept hulls and thrust configurations, as for instance Small Waterplane Area Twin Hull (SWATH) combined with Azimuthal propulsion (common propeller-based thruster with the capability of 360◦ rotation around the vertical axis), requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper proposes a dual-loop guidance & control scheme able to provide advanced navigation capabilities. In particular, the inner control loop, devoted to the actuation of the azimuthal thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterized by a modified PID regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov/virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities also in constrained environments. The paper will provide a deep design & analysis approach for the developed techniques, as well as simulation results of the combined guidance & control scheme, proving the reliability of the proposed approach in different operative conditions. Experimental results will be provided, depending on the availability of the actual autonomous vessel (currently under final development/test phases and related to the specific project activities). 
000007717 542__ $$fCC-BY-NC-ND-4.0
000007717 6531_ $$aAutonomous Guidance
000007717 6531_ $$aAzimuth Control
000007717 6531_ $$aUSV
000007717 7001_ $$aBibuli, M$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aBruzzone, Ga$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aBruzzone, Gi$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aCaccia, M$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aCamporeale, G$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aChiarella, D$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aFerretti, R$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aGiacopelli, M$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aOdetti, A$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aRanieri, A$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aSpirandelli, E$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 7001_ $$aZereik, E$$uNational Research Council of Italy (CNR) - Institute of Marine Engineering
000007717 773__ $$tConference Proceedings of iSCSS
000007717 773__ $$jiSCSS 2018
000007717 789__ $$whttps://zenodo.org/record/2536882$$2URL$$eIsIdenticalTo
000007717 85641 $$uhttps://www.imarest.org/iscss$$yConference website
000007717 8564_ $$9a234167a-8861-491c-a045-1e6e03c73c16$$s1637051$$uhttps://library.imarest.org/record/7717/files/ISCSS%202018%20Paper%20032%20Bibuli%20FINAL.pdf