TY - GEN
T1 - An experimental study of station keeping on an underactuated ASV
AU - Pereira, Arvind
AU - Das, Jnaneshwar
AU - Sukhatme, Gaurav S.
PY - 2008
Y1 - 2008
N2 - Dynamic positioning is an important application for marine vehicles that do not have the luxury of anchoring or mooring themselves. Such vehicles are usually large and have arrays of thrusters that allow for controllability in the sway as well as the surge and yaw axes. Most smaller boats however, are underactuated and do not possess control in the sway direction. This makes the control problem significantly more challenging. We address the station keeping problem for a small autonomous surface vehicle (ASV) with significant windage. The vehicle is required to hold station at a given position. We describe the design of a weighted controller that uses wind feed-forward to complement a Line-Of-Sight guidance controller to achieve satisfactory performance under slow-varying moderate wind conditions. We test the control system in simulation and in field trials with a twin-propeller ASV. Experiments show that the controller works very well in moderate wind conditions allowing the ASV to keep station with a position error of approximately one vehicle length.
AB - Dynamic positioning is an important application for marine vehicles that do not have the luxury of anchoring or mooring themselves. Such vehicles are usually large and have arrays of thrusters that allow for controllability in the sway as well as the surge and yaw axes. Most smaller boats however, are underactuated and do not possess control in the sway direction. This makes the control problem significantly more challenging. We address the station keeping problem for a small autonomous surface vehicle (ASV) with significant windage. The vehicle is required to hold station at a given position. We describe the design of a weighted controller that uses wind feed-forward to complement a Line-Of-Sight guidance controller to achieve satisfactory performance under slow-varying moderate wind conditions. We test the control system in simulation and in field trials with a twin-propeller ASV. Experiments show that the controller works very well in moderate wind conditions allowing the ASV to keep station with a position error of approximately one vehicle length.
UR - http://www.scopus.com/inward/record.url?scp=69749093480&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69749093480&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650991
DO - 10.1109/IROS.2008.4650991
M3 - Conference contribution
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3164
EP - 3171
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -