Abstract
The concept of the Marine Autonomous Surface Ship (MASS) requires new solutions in many areas: from law, through economics, social sciences, environmental issues to the technology and even ethics. It also plays a central role in the work of numerous research teams dealing with the ship motion control systems. This article presents the results of the experiments with application of the selected control methods in automatic steering of the movement of an autonomous ship in the two regimes: during the maneuvers at low speed (in a harbor confined waters) and during the lake trials in open water conditions. In the first case, multidimensional state controller synthesized with Linear Matrix Inequalities (LMI) algorithms was used, while, in the second case, Model Predictive Control (MPC) control was adopted. The object for which the experiments were carried out was 1:24 scale model of the Liquefied Natural Gas (LNG) carrier. The paper presents also the design of the measurement and control system and the user interface. The experiments were conducted in the natural conditions on the lake. The results of the experiments indicate the fundamental role of the measurement system in the process of controlling an autonomous ship.
Highlights
Contemporary scientific research related to the marine control field is carried out i.a. as part of the “Autonomous Ships” project in Norwegian University of Science and Technology, “Autoship” project in Horizon2020, “The Mayflower Autonomous Ship” concept by the Promoting Marine Research and Exploration (PROMARE) and AutonomousVessel with an Air Look (AVAL) project conducted in Poland
Stationary Kalman filter system [40], because “Dorchester Lady” ship model was not equipped with instruments for measuring linear velocities and the need exists for Kalman filter system, thrust allocation system used for calculating three components of vector: u = [τx, τy, τr ] T, (1)
In order to present the way of whole system operation, we have prepared two sample sets of maneuvers
Summary
Contemporary scientific research related to the marine control field is carried out i.a. as part of the “Autonomous Ships” project in Norwegian University of Science and Technology, “Autoship” project in Horizon2020, “The Mayflower Autonomous Ship” concept by the Promoting Marine Research and Exploration (PROMARE) and Autonomous. Questions are being asked whether smart ships should be fully autonomous, remote controlled, or manned with a skeleton crew, and who would be responsible for the ship in question and how smart ships would affect sea traffic Some of these problems have been discussed in Reference [22]. Control subsystem is designed to provide the ability to move along the designated route As it was mentioned in Reference [23], there are 4 types of control in MASS: speed control, course control, stabilization control, path-following and trajectory tracking. Path-following, in contrast to the trajectory tracking, does not require ship to be at a certain WPT at a certain time It is the most common concept in the MASS automatic control.
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