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

Design and Experiments

Journal article (2023)

Authors

Benedetto Piaggio University of Genova
V. Garofano Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Silvia Donnarumma University of Genova
Angelo Alessandri University of Genova
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Michele Martelli University of Genova
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Benedetto Piaggio, V. Garofano, Silvia Donnarumma, Angelo Alessandri, R.R. Negenborn, Michele Martelli
DOI
help_outline
https://doi.org/10.1109/JOE.2023.3292422
Propellers Protocols Telemetry Surges Mathematical models Global navigation satellite system Sea surface Azimuth-drive propulsion Escort tugs Follow-the-leader control Line of sight (LOS) Track keeping
More Info
expand_more

Published Date

2023

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

A novel follow-the-leader approach for azimuth-driven 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.