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

Ji, Ze ORCID: https://orcid.org/0000-0002-8968-9902 and Huang, Ya 2017. Autonomous boat dynamics: How far away is simulation from the high sea? Presented at: OCEANS 2017, Aberdeen, 19 - 22 June 2017. OCEANS 2017 - Aberdeen. IEEE, 10.1109/OCEANSE.2017.8084927

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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.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	IEEE
ISBN:	978-1-5090-5278-3
Last Modified:	23 Oct 2022 13:26
URI:	https://orca.cardiff.ac.uk/id/eprint/110657

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