Docking problems of sea surface vehicles

Yılmaz, İsmail Çağdaş
This thesis covers parallel docking (parallel parking) problem for unmanned surface vehicles (USVs). First, a mathematical model for a USV with two propellers is constructed by using Newton-Euler formulation. Kinematics and dynamic equations create 6 degrees-of-freedom model. A hierarchical motion control approach is implemented on this model. Two kinds of guidance laws, line-of-sight (LOS), and pure pursuit (PP) are employed for way-point travelling at the strategic level of the hierarchy. At the control allocation level, a finite horizon model predictive controller (MPC) and a cascaded PID controller are designed and tuned to optimize path following the performance. These guidance and control methods are implemented for parallel docking, which is treated as a way-point generation problem. Path generation for docking is handled in two stages. In the first stage, by solving a constrained optimal control, a path is found which provides that the vehicle reaches the port of the parking region with minimum control demands. By using a continuous curvature path function, the vehicle is taken from port to parking slot. The path following and energy consumption performances of the USV under the parallel docking manoeuvres are evaluated for different combinations of guidance laws and controller designs at the second stage. Finally, experimental validation has been realized on a scaled boat with model predictive control and pure-pursuit guidance methods.


Parallel Docking Problem for Unmanned Surface Vehicles
Yilmaz, Ismail Cagdas; Ahiska, Kenan; Leblebicioğlu, Mehmet Kemal (2018-11-21)
In this paper, parallel docking (parallel parking) problem for unmanned surface vehicles (USVs) is investigated. A mathematical model for an USV is constructed and a hierarchical control approach is implemented on this 6 degree-of-freedom model. At the control allocation level of the hierarchy, parameters of finite horizon model predictive controller (MPC) and cascaded PID controller are tuned to optimize path following performance of the vehicle. Two kinds of guidance law, line of sight (LOS), and pure pur...
Navigation and system identification of an unmanned underwater survey vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017)
This study includes the mathematical model of an unmanned underwater vehicle, autopilot and the guidance design, the navigation solution and system identification of the unmanned underwater survey vehicle SAGA (Su Altı Gözlem Aracı). First, the 6 degrees-of-freedom (DOF) nonlinear mathematical model of an unmanned underwater vehicle is obtained by a Newton-Euler formulation. Then, the autopilot is designed by utilizing the proportional–integral–derivative (PID) control approach. The navigation problem is so...
Aerodynamic design and control of tandem wing unmanned aerial vehicle
Kaya, Taşkın; Özgen, Serkan; Department of Aerospace Engineering (2019)
This thesis presents an approach towards the design methodology of electrical propulsion, tandem wing unmanned aerial vehicle. Due to its possible rewarding features, tandem wing design is investigated as the main subject of this study. The stability and control characteristics of tandem wing aircraft are critical since the interference between the two wings may result in nonlinear aerodynamic characteristics for varying angles of attack. Thus, the design of the controller system requires careful handling, ...
Assembly line balancing with station paralleling
Ege, Yunus; Azizoğlu, Meral; Özdemirel, Nur Evin (2009-11-01)
We consider the NP-hard problem of assembly line balancing with station paralleling. We assume an arbitrary number of parallel workstations can be assigned to each stage. Every task requires a specified tooling/equipment, and this tooling/equipment should be available in all parallel workstations of the stage to which the task is assigned. Our objective is to find an assignment of tasks to stages so as to minimize sum of station opening and tooling/equipment costs. We propose two branch and bound algorithms...
Optimizing Single-Span Steel Truss Bridges with Simulated Annealing
Hasançebi, Oğuzhan (2010-11-01)
This study presents applications of a simulated annealing integrated solution algorithm to the optimum design of single-span steel truss bridges subjected to gravity loadings. In the optimum design process of a bridge the members are sized simultaneously as the coordinates of the upper chord nodes are determined such that the least design weight is attained for the structure. The design constraints and limitations are imposed in accordance with serviceability and strength provisions of ASD-AISC (Allowable S...
Citation Formats
İ. Ç. Yılmaz, “Docking problems of sea surface vehicles,” M.S. - Master of Science, Middle East Technical University, 2019.