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Simulation of the Guidance and Control Systems for Underactuated Vessels

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Modelling and Simulation for Autonomous Systems (MESAS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11995))

Abstract

Intelligent and/or autonomous vehicle technologies are rapidly growing to meet the needs of marine safety and transport efficiency. One of the requirements to manage autonomous vehicles includes the integration between route planning and automatic motion control. In the authors’ opinion, the latter could be sketched in three different layers: obstacle detection, planning and actuation. Moreover, the three layers should be able to interact in real-time. Dealing with such a challenging task, one of the best techniques to develop and test the logic is the use of the time-domain simulation. In the present work, a simulation model, integrating a path planning algorithm in the presence of obstacles with a track keeping controller, is developed. The path planning is based on a modified version of the Rapidly-exploring Random Tree (RRT*) algorithm. The track keeping is based on the Line-of-Sight (LOS) waypoints navigation for underactuated vessels. To achieve more reliable results, a detailed ship simulation model is used as a benchmark. Different scenarios and navigation modes are successfully tested, and the results are presented and analysed.

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Authors and Affiliations

  1. Department of Electrical, Electronics and Telecommunication Engineering and Naval Architecture (DITEN), University of Genoa, 16145, Genoa, Italy

    Silvia Donnarumma, Massimo Figari, Michele Martelli & Raphael Zaccone

Authors
  1. Silvia Donnarumma
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  2. Massimo Figari
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  3. Michele Martelli
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  4. Raphael Zaccone
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Corresponding author

Correspondence to Silvia Donnarumma .

Editor information

Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

  2. MIRPA Lab, University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Petr Vasik

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Donnarumma, S., Figari, M., Martelli, M., Zaccone, R. (2020). Simulation of the Guidance and Control Systems for Underactuated Vessels. In: Mazal, J., Fagiolini, A., Vasik, P. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2019. Lecture Notes in Computer Science(), vol 11995. Springer, Cham. https://doi.org/10.1007/978-3-030-43890-6_9

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  • DOI: https://doi.org/10.1007/978-3-030-43890-6_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-43889-0

  • Online ISBN: 978-3-030-43890-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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