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

Benedetto Piaggio; Vittorio Garofano; Silvia Donnarumma; Angelo Alessandri; Rudy Negenborn; Michele Martelli

doi:10.1109/JOE.2023.3292422

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

Benedetto Piaggio, Vittorio Garofano, Silvia Donnarumma, Angelo Alessandri, Rudy Negenborn, Michele Martelli

Transport Engineering and Logistics

Research output: Contribution to journal › Article › Scientific › peer-review

1 Citation (Scopus)

8 Downloads (Pure)

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.

Original language	English
Pages (from-to)	997-1008
Journal	IEEE Journal of Oceanic Engineering
Volume	48
Issue number	4
DOIs	https://doi.org/10.1109/JOE.2023.3292422
Publication status	Published - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Azimuth-drive propulsion
escort tugs
follow-the-leader control
Global navigation satellite system
line of sight (LOS)
Mathematical models
Propellers
Protocols
Sea surface
Surges
Telemetry
track keeping

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Follow-the-Leader_Guidance_Navigation_and_Control_of_Surface_Vessels_Design_and_ExperimentsFinal published version, 2.89 MB

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title = "Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments",

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.",

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author = "Benedetto Piaggio and Vittorio Garofano and Silvia Donnarumma and Angelo Alessandri and Rudy Negenborn and Michele Martelli",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.",

year = "2023",

doi = "10.1109/JOE.2023.3292422",

language = "English",

volume = "48",

pages = "997--1008",

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AU - Garofano, Vittorio

AU - Donnarumma, Silvia

AU - Alessandri, Angelo

AU - Negenborn, Rudy

AU - Martelli, Michele

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Azimuth-drive propulsion

KW - escort tugs

KW - follow-the-leader control

KW - Global navigation satellite system

KW - line of sight (LOS)

KW - Mathematical models

KW - Propellers

KW - Protocols

KW - Sea surface

KW - Surges

KW - Telemetry

KW - track keeping

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SP - 997

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JO - IEEE Journal of Oceanic Engineering

JF - IEEE Journal of Oceanic Engineering

IS - 4

ER -

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

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Keywords

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