Vessel-Platform Automation: Integrating self-assembly with configuration dependent control strategies

Master thesis (2021)

Authors

B. Boogmans Mechanical Engineering

Contributors

V. Garofano Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering (supervisor 1)
Y. Pang Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering (supervisor 2)
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering (supervisor 2)
A. Coraddu Ship Design, Production and Operations - Mechanical, Maritime and Materials Engineering (supervisor 2)
Faculty
Mechanical Engineering
Copyright: © 2021 Bart Boogmans
Automation Reconfiguration Vessel-Platform Collaborative control Multi-robot coordination
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Published Date

17-11-2021

Language

English

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Faculty

Mechanical Engineering

Abstract

Vessel platform automation developed notably categorizable in two behaviors: reconfiguration and collaborative motion control. This work explores integration of both behaviors in a single system. Fundamental system characteristics of both behaviors are analyzed to create understanding of the varying design approaches. A multi-vessel platform model approximation is proposed that expresses all module models in one generalized platform coordinate while retaining directional dependent effects. Automated reconfiguration and collaborative, coordinated dynamic positioning are implemented within a single framework. The multi-robot control stucture consists of guidance, navigation & control layers, rather than single systems, where topology changes with platform configuration.