Formation control of marine vehicles during replenishment operations

• Autorzy: Tobiasz M. , Śmierzchalski R.
• Języki publikacji: EN

Abstrakty

EN

Formation control consists in stabilising distances between ships during their motion at the same speed. Due to necessary coordination of motion of the ships, a structure is composed which allows constant distance to be kept between the ships with an assumed accuracy. Formation control makes use of the Leader-Follower algorithm. The steering structure includes the superior formation controller and real-time trajectory controllers. Direct course and speed steering is executed using PD fuzzy controllers. The application of advanced technologies provides opportunities for reducing the number of crew involved in at-sea reloading activities and increasing ship safety during operations of this type.

Słowa kluczowe

EN

formation control; Leader-Follower algorithm; fuzzy controller

• Wydawca: Wydawnictwo Uniwersytetu Przyrodniczo-Humanistycznego w Siedlcach
• Czasopismo: Studia Informatica : systems and information technology
• Rocznik: 2007
• Tom: Vol. 2(9)
• Strony: 43--53
• Opis fizyczny: Bibliogr. 9 poz., rys., tab.

Twórcy

autor

Tobiasz M.

• Department of Ship Automation, Gdynia Maritime University ul. Morska 83, 81-225 Gdynia, Poland

autor

Śmierzchalski R.

• Department of Ship Automation, Gdynia Maritime University ul. Morska 83, 81-225 Gdynia, Poland

Bibliografia

• 1. Edwards D.B., Bean T.A., Odell D.L., Anderson M.J. (2004). A Leader-Follower Algorithm for Multiple AUV Formations. IEEE/OES Autonomous Underwater Vehicles 17-18 June 2004, Sebasco ME.
• 2. Galbas J. (1988). Synteza układu sterowania precyzyjnego statkiem za pomocą sterów strumieniowych. Rozprawa doktorska, Gdańsk 1988.
• 3. Kyrkjebo E., Wondergem M., Pettersen K. Y., Nijmeijer H., (2004). Experimental Results On Synchronizationcontrol Of Ship Rendezvous Operations. Control Applications in Marine Systems, Ancona 2004.
• 4. Schulz W.E., Musatow M., Jiang C., Higgins C., Albus J., Bostelman R., (2003). Skin-to- Skin Replenishment. NIST Report.
• 5. Teukolsky Saul A., Vetterling William T., Flannery Brian P. (2002). Numerical Recipes in C The Art of Scientific Computing. Cambridge University Press.
• 6. Tobiasz M., Tomera M., Łebkowski A., Dziedzicki K., Śmierzchalski R. (2005). Course and speed controller for ships steering in collision situation. 11th IEEE International Conference on Methods and Models in Automation and Robotics MMAR, Międzyzdroje 2005.
• 7. Tobiasz M., Tomera M., Łebkowski A., Dziedzicki K., Śmierzchalski R. (2005). Regulator trajektorii w aspekcie sterowania statkiem w sytuacji kolizyjnej. XV Krajowa Konferencja Automatyki, Warszawa, 2005.
• 8. YangQuan Chen, Zhongmin Wang, (2005). Formation Control: A Review and A New Consideration. IEEE/RSJ International Conference on Intelligent Robots and Systems 2005.
• 9. Williams M.K. (2002). Cost-Benefit Study Of Implementing Current And Future Technology For Enhanced Station-Keeping During Underway Replenishment Operations. Master's Thesis.