Autonomous boat dynamics: how far away is simulation from the high sea?

Ya Huang, Ze Ji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

The study demonstrates the process of implementing a 3-degrees-of-freedom surge-sway-yaw boat dynamic model in a numeric simulation environment. Estimated environmental disturbance force introduced in the simulation provides a scope for determining boat thrust force range and thrust angle range. The basic simulation framework allows the designer of a small robotic boat to change control logics in relation to the actuator (thruster) layout without the construction of a prototype. The study draws on the key assumptions of hydrodynamic added masses and damping coefficients, and indicates ways to estimate these parameters. The framework offers a starting point for anyone working on mechanical design of a robotic test boat for developing any control algorithms.
Original languageEnglish
Title of host publicationProceedings of OCEANS 2017 - Aberdeen
PublisherIEEE
Pages2106-2113
Number of pages8
ISBN (Electronic)978-1509052783
ISBN (Print)978-1509052790
DOIs
Publication statusPublished - 26 Oct 2017
EventOCEANS 2017 - Aberdeen, United Kingdom
Duration: 19 Jun 201722 Jun 2017

Conference

ConferenceOCEANS 2017
Country/TerritoryUnited Kingdom
CityAberdeen
Period19/06/1722/06/17

Keywords

  • autonomous surface vehicle
  • control
  • simulation

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