Print Email Facebook Twitter Dynamic Coordination of Multiple Vessels for Offshore Platform Transportation Title Dynamic Coordination of Multiple Vessels for Offshore Platform Transportation Author Du, Zhe (TU Delft Transport Engineering and Logistics) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Reppa, V. (TU Delft Transport Engineering and Logistics) Date 2022 Abstract This paper proposes a novel dynamic coordination control scheme for a physically connected multi-vessel towing system to transport an offshore platform. The transportation process is executed by four tugboats, and each of them has a leading or following role. To render the transportation faster, the roles of the tugboats can be switched in the towing process. The dynamic coordination decision mechanism is designed to allocate in real-time a combination of roles to the tugs by comparing the position and heading of the offshore platform to the next waypoint position. A control allocation strategy is developed to optimally control the position and heading of the tugboats considering multiple constraints. The reference trajectory of the tugboats is dynamically calculated based on the assigned role of each tugboat. A simulation experiment indicates that the proposed control scheme can enhance the maneuver-ability of the physically connected multi-vessel towing system and increase the efficiency of offshore platform transportation. To reference this document use: http://resolver.tudelft.nl/uuid:e0382725-b032-4784-94d7-908370037f5c DOI https://doi.org/10.1109/CCTA49430.2022.9965992 Publisher IEEE Embargo date 2023-06-08 ISBN 978-1-6654-7338-5 Source Proceedings 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 Event 2022 IEEE Conference on Control Technology and Applications, CCTA 2022, 2022-08-23 → 2022-08-25, Trieste, Italy Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2022 Zhe Du, R.R. Negenborn, V. Reppa Files PDF Dynamic_Coordination_of_M ... tation.pdf 1.08 MB Close viewer /islandora/object/uuid:e0382725-b032-4784-94d7-908370037f5c/datastream/OBJ/view