TY  - GEN
AB  - This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels.<br>
The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited<br>
to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along<br>
the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented.<br>
A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID<br>
controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively<br>
validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario<br>
with model scale tugs.<br>
The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented<br>
on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level<br>
management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised<br>
path planning, guidance, and control sequence evaluation are dealt with at a remote ground station.<br>
In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys,<br>
and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and<br>
routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare<br>
occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for<br>
the tug master’s lucidity and alertness, while reducing avoidable risks.<br>
At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness<br>
of the proposed control logic.
AD  - Dept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
AD  - Department of Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands
AD  - Dept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
AD  - Dept. of Mechanical, Power, Industrial and Transport Engineering (DIME), Polytechnic School of Genoa University, Genova, Italy
AD  - Department of Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands
AD  - Dept. of Naval Architecture and Marine, Electrical, Electronic, Telecommunications Engineering (DITEN), Polytechnic School of Genoa University, Genova, Italy
AU  - Piaggio, B
AU  - Garofano, V
AU  - Donnarumma, S
AU  - Alessandri, A
AU  - Negenborn, RR
AU  - Martelli, M
DA  - 2020-10-05
ID  - 7743
JF  - Conference Proceedings of iSCSS
KW  - Follow-the-Leader
KW  - Tugs
KW  - Azimuthal Propulsion
KW  - Line-of-Sight
KW  - Path-Following
KW  - Platooning
L1  - https://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf
L2  - https://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf
L4  - https://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf
LK  - https://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf
N2  - This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels.<br>
The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited<br>
to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along<br>
the path. For this purpose, a linearised manoeuvrability model for azimuthal drive surface vessels is presented.<br>
A model-based control synthesis is proposed to ensure the stability of the closed-loop system and robust PID<br>
controllers are designed by using Linear Matrix Inequalities technique. The control strategy has been successively<br>
validated in two steps, initially by using simulation techniques, and then experimentally using an outdoor scenario<br>
with model scale tugs.<br>
The path planning, navigation, guidance and control modules are studied, detailed, and digitally implemented<br>
on-board of the model scale tugs. The models are supplied with GNSS+INS navigation system. Low-level<br>
management and control of Azimuthals angles and shaft revolutions is implemented on-board. High-level decentralised<br>
path planning, guidance, and control sequence evaluation are dealt with at a remote ground station.<br>
In particular, the presented follow-the-leader strategy meets the most generic needs of platooning convoys,<br>
and, in the specific instance, of Escort convoy tugs. The operative profile of the latter concerns long-lasting and<br>
routine chases with the continuous demand of tuning heading and speed to track the target vessels, until the rare<br>
occurrence of an emergency event. In a realistic scenario, the proposed control system would be beneficial for<br>
the tug master’s lucidity and alertness, while reducing avoidable risks.<br>
At the end of the paper, the results of the experimental campaign are shown to demonstrate the effectiveness<br>
of the proposed control logic.
PY  - 2020-10-05
T1  - Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels
TI  - Follow-the-Leader Control Strategy for Azimuth Propulsion System on Surface Vessels
UR  - https://library.imarest.org/record/7743/files/iSCSS_2020_Paper_6.pdf
VL  - iSCSS 2020
Y1  - 2020-10-05
ER  -