Towards autonomous inland shipping: a manoeuvring model in confined waterways
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| Název: | Towards autonomous inland shipping: a manoeuvring model in confined waterways |
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| Autoři: | Zhang, Chengqian, 1996, Ma, Yucong, Thies, Fabian, 1984, Ringsberg, Jonas, 1971, Xing, Yihan |
| Zdroj: | AUTOBarge - European training and research network on Autonomous Barges for Smart Inland Shipping Ships and Offshore Structures. 20(6):767-779 |
| Témata: | manoeuvring prediction, autonomous vessel, Confinement effect, motion control, inland waterways |
| Popis: | Autonomous inland water vessels are essential for promoting intelligent and sustainable waterborne transport. An accurate ship manoeuvring model ensures reliable control strategies and enhances navigation safety. Although ship manoeuvrability models have existed for decades, few studies address shallow and restricted waters. This study introduces a manoeuvring model for inland water vessels, accounting for confinement effects on ship motion. The Manoeuvring Modelling Group (MMG) model in open water serves as the baseline, incorporating empirical methods for shallow water and bank effects. This approach aims to provide a fast and accurate prediction of vessel motion response. The model was validated with free-running experimental data of a pusher-barge model from turning tests at three water depths. Additional case studies highlight shallow water impact compared to infinite water performance under bank effects. Finally, course-keeping case studies are presented, integrating a Proportional-Derivative controller with combined river current and bank-induced forces. |
| Popis souboru: | electronic |
| Přístupová URL adresa: | https://research.chalmers.se/publication/541461 https://research.chalmers.se/publication/541461/file/541461_Fulltext.pdf |
| Databáze: | SwePub |
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Nájsť tento článok vo Web of Science | Abstrakt: | Autonomous inland water vessels are essential for promoting intelligent and sustainable waterborne transport. An accurate ship manoeuvring model ensures reliable control strategies and enhances navigation safety. Although ship manoeuvrability models have existed for decades, few studies address shallow and restricted waters. This study introduces a manoeuvring model for inland water vessels, accounting for confinement effects on ship motion. The Manoeuvring Modelling Group (MMG) model in open water serves as the baseline, incorporating empirical methods for shallow water and bank effects. This approach aims to provide a fast and accurate prediction of vessel motion response. The model was validated with free-running experimental data of a pusher-barge model from turning tests at three water depths. Additional case studies highlight shallow water impact compared to infinite water performance under bank effects. Finally, course-keeping case studies are presented, integrating a Proportional-Derivative controller with combined river current and bank-induced forces. |
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| ISSN: | 1754212X 17445302 |
| DOI: | 10.1080/17445302.2024.2358284 |