Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels

Design and Experiments

Journal article (2023)

Authors

Benedetto Piaggio University of Genova
V. Garofano Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Silvia Donnarumma University of Genova
Angelo Alessandri University of Genova
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Michele Martelli University of Genova
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Benedetto Piaggio, V. Garofano, Silvia Donnarumma, Angelo Alessandri, R.R. Negenborn, Michele Martelli
DOI: https://doi.org/10.1109/JOE.2023.3292422
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed-regulation allows to track its velocity. Track generation, guidance, navigation, and control modules are designed and assembled to be executed on-board in real time. The results of an outdoor experimental campaign are illustrated to show the effectiveness of the proposed approach.

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