Vision-aided speed modulation system to enhance seaworthiness of autonomous planing crafts

Himabindu Allaka, Deborah Levy, Tali Treibitz, Morel Groper

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The present study focuses on enhancing the operationability and seaworthiness of Autonomous Planing Crafts' (APC) in seaway by employing an autonomous speed setting mechanism as a response to the APC behavior when operating in real seaways. The mechanism, embedded in the craft's autonomous navigation system, employs a motion computation model termed Motion Assessment of Planing Craft (MAPC) where the sea state input data is provided by a dedicated vision system.In this study, the principles of an autonomous speed setting mechanism for APCs is presented. To enhance the operationability of planing crafts, the capability to predict the accelerations and motions these crafts are expected to exhibit based on the knowledge of the incoming waves is necessary. As a response to this demand, a MAPC model was developed, The MAPC model is based on the 2-dimensional strip theory, improves previously developed motion assessment models by implementing a near transom pressure correction and modified added mass coefficients and provides accurate results for the accelerations, angular velocities and expected motions in the longitudinal plane and in the time domain. To validate and calibrate the MAPC a Jet-Ski was retrofitted to an APC platform and instrumented with an Inertial Measurement System (IMS) to measure and record the linear accelerations and angular velocities experienced by the craft in seaway. The incoming waves were measured by a separately deployed wave buoy. The wave-induced pitch and vertical acceleration as computed by the model has been compared with these experimental data and the differences are addressed.

Original languageEnglish
Title of host publication2018 15th Workshop on Positioning, Navigation and Communications, WPNC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538664360
DOIs
StatePublished - 30 Nov 2018
Event15th Workshop on Positioning, Navigation and Communications, WPNC 2018 - Bremen, Germany
Duration: 25 Oct 201826 Oct 2018

Publication series

Name2018 15th Workshop on Positioning, Navigation and Communications, WPNC 2018

Conference

Conference15th Workshop on Positioning, Navigation and Communications, WPNC 2018
Country/TerritoryGermany
CityBremen
Period25/10/1826/10/18

Bibliographical note

Funding Information:
ACKNOWLEDGMENT This study was supported by the Ministry of Defense, Israel and Leona M. and Harry B. Helmsley Charitable Trust, the Maurice Hatter Foundation and Paul Amir Foundation. Research at the University of Haifa was conducted at the Hatter Department of Marine Technologies in the Sub Sea Engineering Lab and Marine Imaging Lab.

Publisher Copyright:
© 2018 IEEE.

Keywords

  • Autonomy
  • Computation model
  • Hydrodynamics
  • Navigation
  • Planing crafts
  • Vision system

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Optimization
  • Instrumentation

Fingerprint

Dive into the research topics of 'Vision-aided speed modulation system to enhance seaworthiness of autonomous planing crafts'. Together they form a unique fingerprint.

Cite this