Influence of Ship-to-Ship Interaction on Formation Control of Multi-Vessel Systems

Xin Xiong, Rudy R. Negenborn, Yusong Pang

2024

Abstract

The formation control of autonomous surface vessels (ASVs) has received increasing attention, with research focusing on the formation generation and maintenance. However, the majority of existing researches neglect the effects of ship-to-ship interactions. Considering that in some scenarios, the distance between ships in a formation is small, it is necessary to conduct relevant research on formation control. Based on existing literature on ship hydrodynamic effects, this paper proposes a semi-empirical formula to describe the ship-to-ship interaction forces, with the main factors being the relative distance and velocity between ships. Subsequently, experiments were designed to independently analyze these two influencing factors, and control simulations were executed for a formation consisting of two homogeneous ASV. The simulation outcomes demonstrate that ship-to-ship interaction forces indeed influence control performance, with control performance errors directly correlating with the variations in interaction forces between the two ASV. Among these factors, speed exerts a greater influence than distance, rendering it challenging for a conventional PID controller to satisfy the stringent control requirements.

Paper Citation

in Harvard Style

Xiong X., R. Negenborn R. and Pang Y. (2024). Influence of Ship-to-Ship Interaction on Formation Control of Multi-Vessel Systems. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 25-36. DOI: 10.5220/0012911700003822

in Bibtex Style

@conference{icinco24,
author={Xin Xiong and Rudy R. Negenborn and Yusong Pang},
title={Influence of Ship-to-Ship Interaction on Formation Control of Multi-Vessel Systems},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={25-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012911700003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Influence of Ship-to-Ship Interaction on Formation Control of Multi-Vessel Systems
SN - 978-989-758-717-7
AU - Xiong X.
AU - R. Negenborn R.
AU - Pang Y.
PY - 2024
SP - 25
EP - 36
DO - 10.5220/0012911700003822
PB - SciTePress