In this paper, the problem of designing a boat parking assistance system for a small-scale vessel is addressed. A control-oriented model is derived from the physics underlying the system, and gray-box identification is carried out by designing suitable experiments. A 3-DOF cascade control scheme is then implemented to achieve semiautomatic parking and stationkeeping. The latter mode is also shown to represent a solid groundwork for future research on fully automatic maneuvering in a harbor. The proposed strategy is finally tested on stationkeeping and parking of a real vessel.

A parking assistance system for small-scale boats

FORMENTIN, Simone;BONIOLO, Ivo Emanuele Francesco;
2013-01-01

Abstract

In this paper, the problem of designing a boat parking assistance system for a small-scale vessel is addressed. A control-oriented model is derived from the physics underlying the system, and gray-box identification is carried out by designing suitable experiments. A 3-DOF cascade control scheme is then implemented to achieve semiautomatic parking and stationkeeping. The latter mode is also shown to represent a solid groundwork for future research on fully automatic maneuvering in a harbor. The proposed strategy is finally tested on stationkeeping and parking of a real vessel.
journal article - articolo
2013
Formentin, Simone; Berretta, Daniele; Urbano, Nazario; Boniolo, Ivo Emanuele Francesco; DE FILIPPI, Pierpaolo; Savaresi, SERGIO MATTEO
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/29844
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