Keisuke Watanabe, Masatoshi Shimpo
Department of Marine Science and Ocean Engineering, Tokai University, 3-20-1 Orido Shimzu-ku, Shizuoka, 424-8610, Japan
Pages 36–40
ABSTRACT
In recent years, autonomous platforms have been developed to reduce the cost of various activities in the field of marine engineering, such as ocean observation platforms, autopilot vessels for maintenance of offshore wind farms, and the installation of submarine drilling rigs. Catamaran-type USVs are one of the useful platforms in these activities. The authors have been developing an experimental testbed of USV platform to conduct basic studies on control algorithms through sea experiments. The USV must be capable of following a given trajectory and accomplishing its mission in the face of wind, currents, and other unknown disturbances while avoiding other vessels and obstacles at sea. This paper presents our testbed design and LQR based control algorithm to implement the basic ability of trajectory tracking, which is intended to be used to collect data for designing AI based control algorithm in the near future
Keywords: Offshore wind farm maintenance, USV , Sea experiment, Subsea mining platform installation

ARTICLE INFO
Article History
Received 23 November 2021
Accepted 10 July 2022

J-STAGE3107

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