Cooperative adaptive guidance and control paradigm for marine robots in an emergency ship towing scenario

Summary This paper focuses on the control strategy needed by marine robots to be able to follow moving paths within a cooperative framework. This control aspect is essential in order to effectively perform emergency ship towing operations. In particular, these robots coordinate their motion, with th...

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Bibliographic Details
Published in:International journal of adaptive control and signal processing 2017-04, Vol.31 (4), p.562-580
Main Authors: Bruzzone, G., Bibuli, M., Zereik, E., Ranieri, A., Caccia, M.
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
autonomous guidance
Cooperation
Cooperative control
Emergency procedures
marine vehicles
Robot control
Robots
robots cooperation
Salvage
Ships
Strategy
Towing
Trajectory planning
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Summary:Summary This paper focuses on the control strategy needed by marine robots to be able to follow moving paths within a cooperative framework. This control aspect is essential in order to effectively perform emergency ship towing operations. In particular, these robots coordinate their motion, with the aim of performing an autonomous tying operation, linking the messenger line of a distressed ship to a salvage tugboat. Automatic guidance algorithms are developed in order to provide cooperation and coordination of robots' motion, in such a way to perform the knotting maneuver between the two employed vehicles. In particular, the major contribution of the present work in terms of adaptive control methodology consists in extending a well‐known path following strategy for multi‐vehicle cooperation to cope with moving reference paths. Extensive experimental testing validates the proposed concept, also pointing out the feasibility and effectiveness of the developed system in real‐case scenarios. Copyright © 2016 John Wiley & Sons, Ltd.
ISSN:0890-6327
1099-1115
DOI:10.1002/acs.2667