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Motion Control for Autonomous Navigation in Blue and Narrow Waters Using Switched Controllers

Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genoa, 16145 Genoa, Italy
Department of Electrical, Electronics and Telecommunication Engineering and Naval Architecture (DITEN), University of Genoa, 16145 Genoa, Italy
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
J. Mar. Sci. Eng. 2019, 7(6), 196;
Received: 30 April 2019 / Revised: 19 June 2019 / Accepted: 20 June 2019 / Published: 25 June 2019
(This article belongs to the Special Issue Advances in Marine Dynamic Simulation)
PDF [2266 KB, uploaded 27 June 2019]


Autonomous ships represent one of the new frontiers of technological innovation in marine engineering, which demand the development of innovative control systems to guarantee efficient and safe navigation of vessels. A convenient control system should be able to command the several actuators installed on board in different conditions—for instance, during oceanic navigation, harbor approach, narrow channels, and crowed areas. Such tasks are accomplished by different switching controllers for high and low speed motion, which have to be orchestrated to ensure an effective maneuvering. An approach to the design of hierarchies of controllers for maneuvering and navigation of ships equipped with a standard propulsion configuration in both blue and narrow water is proposed. Different levels of control, from global to local, are defined and integrated to steer the vessel in such a way to increase the maneuvering capability in various scenarios. View Full-Text
Keywords: marine simulation; motion control; low-speed maneuvering marine simulation; motion control; low-speed maneuvering

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Alessandri, A.; Donnarumma, S.; Martelli, M.; Vignolo, S. Motion Control for Autonomous Navigation in Blue and Narrow Waters Using Switched Controllers. J. Mar. Sci. Eng. 2019, 7, 196.

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