Publications

Last Updated: 16th September 2022

• V. Deogaonkar, A. K. Jadhav, J. Jose, M. Anand, and A. S. Somayajula, “Waypoint based path following of an underactuated autonomous marine vessel (submitted),” ICRA 2023, London, 2023.

Abstract

Most ships that carry cargo from one place to another are underactuated. Therefore, controlling such vessels is challenging and even a few major accidents in the industry can be attributed to ineffective control by a human operator. Automated control can significantly aid in the prevention of such incidents. This paper demonstrates practical implementation of a path following algorithm for an underactuated scaled model of a container ship. Integral Line Of Sight (ILOS) guidance scheme along with Proportional Derivative (PD) rudder control law is implemented to track the path connecting a series of waypoints. For this study a 1:75.5 scaled free running model of the KRISO Container Ship (KCS) is chosen as the test ship. A numerical model of the vessel's dynamics was initially simulated to derive the optimal gains for the controller which were further tested and validated through field trials.