A Parking Assistance System for Small-Scale Boats

Author

Formentin, Simone ; Berretta, Daniele ; Urbano, Nazario ; Boniolo, Ivo ; De Filippi, Pierpaolo ; Savaresi, Sergio M.

Author_Institution

Dipt. di Ing., Univ. degli Studi di Bergamo, Dalmine, Italy

Volume

18

Issue

6

fYear

2013

fDate

Dec. 2013

Firstpage

1844

Lastpage

1849

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.

Keywords

boats; cascade control; control system synthesis; boat parking assistance system; cascade control scheme; control-oriented model; gray-box identification; harbor; semiautomatic parking; small-scale boats; small-scale vessel; stationkeeping; Control systems; Marine vehicles; Position control; System identification; Control system; marine vehicle control; system identification;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2013.2263092

Filename

6522182