Motion Modeling and Simulation of Maritime Autonomous Surface Ships in Realistic Environmental Disturbances

Jing, Qianfeng; Shen, Helong; Yin, Yixin

doi:10.1109/itsc45102.2020.9294560

Cited by 2 publications

(1 citation statement)

References 24 publications

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“…The vector η = [x, y, z, φ, θ, ψ] T represents the position and attitude of a MASS in the earth-fixed system, whereas vector ν = [u, v, w, p, q, r] T denotes the speed and rotation speed in the body-fixed system. The 6-DOF mathematical model of a MASS [28,29] can be expressed as follows:…”

Section: Modeling Of Motions Of Massmentioning

confidence: 99%

An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

Zhu

Lyu

Zhang

et al. 2021

JMSE

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A novel collision avoidance (CA) algorithm was proposed based on the modified artificial potential field (APF) method, to construct a practical ship automatic CA system. Considering the constraints of both the International Regulations for Preventing Collisions at Sea (COLREGS) and the motion characteristics of the ship, the multi-ship CA algorithm was realized by modifying the repulsive force model in the APF method. Furthermore, the distance from the closest point of approach-time to the closest point of approach (DCPA-TCPA) criterion was selected as the unique adjustable parameter from the perspective of navigation practice. Collaborative CA experiments were designed and conducted to validate the proposed algorithm. The results of the experiments revealed that the actual DCPA and TCPA agree well with the parameter setup that keeps the ship at a safe distance from other ships in complex encountering situations. Consequently, the algorithm proposed in this study can achieve efficient automatic CA with minimal parameter settings. Moreover, the navigators can easily accept and comprehend the adjustable parameters, enabling the algorithm to satisfy the demand of the engineering applications.

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Section: Modeling Of Motions Of Massmentioning

confidence: 99%

An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

Zhu

Lyu

Zhang

et al. 2021

JMSE

Self Cite

View full text Add to dashboard Cite

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A Universal Simulation Framework of Shipborne Inertial Sensors Based on the Ship Motion Model and Robot Operating System

Jing

Wang

et al. 2021

JMSE

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A complete virtual test environment is a powerful tool for Autonomous Surface Vessels (ASVs) research, and the simulation of ship motion and shipborne sensors is one of the prerequisites for constructing such an environment. This paper proposed a universal simulation framework of shipborne inertial sensors. A ship motion model considering environmental disturbances is proposed to simulate the six-degrees-of-freedom motion of ships. The discrete form of the inertial sensor stochastic error model is derived. The inertial measurement data are simulated by adding artificial errors to a simulated motion status. In addition, the ship motion simulation, inertial measurement simulation, and environment simulation nodes are implemented based on the computational graph architecture of the Robot Operating System (ROS). The benefit from the versatility of the ROS messages, the format of simulated inertial measurement is exactly the same as that of real sensors, which provides a research basis for the fusion perception algorithm based on visual–inertial and laser–inertial sensors in the research field of ASVs.

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Motion Modeling and Simulation of Maritime Autonomous Surface Ships in Realistic Environmental Disturbances

Cited by 2 publications

References 24 publications

An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

An Efficient Ship Automatic Collision Avoidance Method Based on Modified Artificial Potential Field

A Universal Simulation Framework of Shipborne Inertial Sensors Based on the Ship Motion Model and Robot Operating System

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