An experimental study of station keeping on an underactuated ASV

Arvind Pereira, Jnaneshwar Das, Gaurav S. Sukhatme

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3164-3171
Number of pages8
DOIs
StatePublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Pereira, A., Das, J., & Sukhatme, G. S. (2008). An experimental study of station keeping on an underactuated ASV. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3164-3171). [4650991] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650991