Title :
Cooperative robotic maneuvers for emergency ship towing operations
Author :
Bruzzone, G. ; Bibuli, M. ; Caccia, M. ; Zereik, E.
Author_Institution :
ISSIA, Genoa, Italy
Abstract :
This paper proposes the employment of marine robotic platforms for emergency ship towing operations. Automatic guidance algorithms are developed with the aim of providing cooperation and coordination of robots´ motion. In particular a line-following technique is proposed as well as an improvement to a virtual target based path-following technique in order to take into account the modeling of a moving reference path. To prove the validity of the proposed concept, a set of experimental results is also reported.
Keywords :
motion control; path planning; service robots; ships; automatic guidance algorithms; cooperative robotic maneuvers; emergency ship towing operations; line-following technique; marine robotic platforms; path-following technique; robot motion cooperation; robot motion coordination; virtual target; Marine vehicles; Navigation; Robot kinematics; Subspace constraints; Tracking; Vehicles;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6608012