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

Ya Huang; Ze Ji

doi:10.1109/OCEANSE.2017.8084927

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

Ya Huang
, Ze Ji

Cardiff University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1666 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of OCEANS 2017 - Aberdeen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2106-2113
Number of pages	8
ISBN (Electronic)	978-1509052783
ISBN (Print)	978-1509052790
DOIs	https://doi.org/10.1109/OCEANSE.2017.8084927
Publication status	Published - 26 Oct 2017
Event	OCEANS 2017 - Aberdeen, United Kingdom Duration: 19 Jun 2017 → 22 Jun 2017

Conference

Conference	OCEANS 2017
Country/Territory	United Kingdom
City	Aberdeen
Period	19/06/17 → 22/06/17

Keywords

autonomous surface vehicle
control
simulation

Access to Document

10.1109/OCEANSE.2017.8084927

2017-04-14 final paper boat sim
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Accepted author manuscript (Post-print), 1.3 MB

Cite this

@inproceedings{01283ec7c00c48cbb70320670c17daaa,

title = "Autonomous boat dynamics: how far away is simulation from the high sea?",

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. ",

keywords = "autonomous surface vehicle, control, simulation",

author = "Ya Huang and Ze Ji",

year = "2017",

month = oct,

day = "26",

doi = "10.1109/OCEANSE.2017.8084927",

language = "English",

isbn = "978-1509052790 ",

pages = "2106--2113",

booktitle = "Proceedings of OCEANS 2017 - Aberdeen",

publisher = "Institute of Electrical and Electronics Engineers Inc.",