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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Marine Science and Engineering".

Deadline for manuscript submissions: closed (20 November 2024) | Viewed by 18364

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Dr. Zaopeng Dong

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School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430062, China
Interests: control systems engineering; ocean engineering; autonomous underwater vehicles; marine robots; intelligent ship
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Dear Colleagues,

It is our pleasure to invite you to contribute to this Special Issue entitled “Modeling, Guidance and Control of Marine Robotics”.

Marine robotics includes a wide range of devices, from autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) to gliders and unmanned surface vehicles (USVs). These devices can be used for a range of tasks, such as mapping the seafloor, collecting data on ocean currents and water quality, and monitoring marine life. Modeling, guidance and control are critical aspects of marine robotics that enable robots and autonomous vehicles to perform their intended tasks effectively and efficiently. In recent years, the modeling, guidance and control of marine robotics have attracted worldwide attention.

Modeling involves the development of mathematical models that describe the behavior and performance of marine robots. These models can be used to simulate a robot's performance in various scenarios, such as in different sea states or with different payloads. Modeling is essential for designing and optimizing marine robots and for predicting their behavior in different operating conditions. Guidance refers to the process of providing a robot with instructions or commands to follow. In marine robotics, guidance can involve determining the robot's position and orientation, calculating the optimal path for the robot to follow, and adjusting the robot's trajectory to avoid obstacles or other hazards. Guidance systems often rely on various sensors, such as sonar, GPS, and cameras, to provide information about the robot's surroundings and position. Control means using algorithms and feedback systems to adjust the robot's behavior and ensure that it follows the desired trajectory or path. Control systems can vary depending on the specific application and the type of robot being used. For example, control systems for an AUV might involve adjusting its buoyancy to control its depth, while control systems for an ROV might involve adjusting the thrusters to maintain position and orientation.

Overall, modeling, guidance and control are essential for the effective operation of marine robots and autonomous vehicles. These technologies enable marine robots to navigate complex environments, avoid obstacles, and perform tasks with precision and accuracy, ultimately leading to more efficient and effective marine exploration and research.

This Special Issue aims to address the recent advances in the modeling, guidance and control of marine robotics. Submissions can address, but are not limited to, the following topics:

Modeling of marine robotics;
Maneuverability modeling and analysis of marine robotics;
Seakeeping analysis and modeling of marine robotics;
Ship performance design and modeling analysis of marine robotics;
Guidance of marine robotics;
Video processing for intelligent marine robots;
Sensing technology for marine robotics;
Precision instrumentation for marine robots;
Integrated behavior and decision in marine robotics;
Control and operation of marine robotics;
Multi-robot communication and coordination;
Control of networked marine robots;
Evolutionary learning for swarm marine robotics;
Development and application of special marine robots.

Submissions of both original research articles and review articles are welcome. In addition, articles with remarkable contributions to recent conferences in this field are also welcomed to expand for publication in this Special Issue. We hope that this collection of articles will highlight the recent progress made in the area of marine robotics and serve as an inspiration for those working in this area.

Dr. Zaopeng Dong
Guest Editor

Manuscript Submission Information

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Keywords

marine robotics
ship design
autonomous underwater vehicles (AUVs)
unmanned surface vehicles (USVs)

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Related Special Issue

Modeling, Guidance and Control of Marine Robotics, 2nd Edition in Applied Sciences

Published Papers (12 papers)

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34 pages, 9565 KiB

Open AccessArticle

Quaternion-Based Fast SMC–PD Cross-Domain Tracking Control for Coaxial Hybrid Aerial–Underwater Vehicle Under Oceanic Disturbances

by Mingqing Lu, Wei Yang, Fei Liao, Shichong Wu, Yumin Su and Wenhua Wu

Appl. Sci. 2025, 15(2), 703; https://doi.org/10.3390/app15020703 - 12 Jan 2025

Viewed by 1800

Abstract

In this study, nonsingular modeling and cross-domain trajectory tracking control problems for a special class of coaxial hybrid aerial–underwater vehicles (HAUVs) are investigated. Coaxial HAUVs need to effectively overcome the influence of hydrodynamic factors when moving underwater, so the attitude angle required by coaxial HAUVs is much larger than that in the air. The attitude representation based on quaternion modeling is adopted to avoid the inherent singularity of Euler angle modeling. A cascade sliding mode control and proportion differentiation (SMC-PD) controller is proposed, which is used to position trajectory and attitude quaternion tracking control, respectively. An adaptive sliding mode controller based on disturbance observer (DO) enhancement is adopted in the outer loop to carry trajectory tracking control. At the same time, the expected attitude angle is calculated by the outer loop (position) and is converted into the expected quaternion. With reference to the idea of enhanced robustness in active disturbance rejection control (ADRC), a feedforward proportion derivation (PD) controller based on DO enhancement is used to track the desired quaternion. A variable parameter adaptive algorithm based on the learning rate is introduced in the cascaded SMC-PD controller. The error convergence speed of the system is further improved by adaptively changing the controller parameters. The stability of the proposed control scheme is proved by using the Lyapunov theory. The numerical simulation results show that the controller has good robustness and effectiveness. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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18 pages, 7051 KiB

Open AccessArticle

Parameter Identification of an Unmanned Surface Vessel Nomoto Model Based on an Improved Extended Kalman Filter

by Sihang Lu, Baolin Wang, Zaopeng Dong, Zhihao Hu, Yilun Ding and Wangsheng Liu

Appl. Sci. 2025, 15(1), 161; https://doi.org/10.3390/app15010161 - 27 Dec 2024

Viewed by 1015

Abstract

The accurate nonlinear modeling of an unmanned surface vessel (USV) is essential for advanced control and operational performance. This paper combines the locally weighted regression (LWR) algorithm and the extended Kalman filter (EKF) for parameter identification using state data from full-scale vessel experiments. To mitigate the effects of disturbances and abrupt changes in the full-scale vessel data, LWR filtering is applied for data smoothing before parameter identification. The EKF is then used to estimate the unknown parameters in the second-order nonlinear Nomoto model of the USV. These parameters are incorporated into the Nomoto model, and simulations are conducted by inputting the same rudder inputs as in the experimental data. The predicted heading angle and yaw rate are compared with experimental results, showing that the mean absolute error (MAE) for the heading angle is within 10° and the MAE for the yaw rate is within 1.5°/s. Additionally, the coefficient of determination (R²) values for both predictions are above 0.93. The simulation results demonstrate that the combination of LWR filtering and EKF effectively identifies parameters and models the nonlinear response of the USV, achieving high accuracy in the established second-order model. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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20 pages, 1917 KiB

Open AccessArticle

Distributed Formation Control for Underactuated, Unmanned Surface Vehicles with Uncertainties and Disturbances

by Wenbin Huang, Yuxin Zheng, Lei Zhang, Yanhao Li and Xi Chen

Appl. Sci. 2024, 14(24), 12064; https://doi.org/10.3390/app142412064 - 23 Dec 2024

Viewed by 740

Abstract

This paper investigates the distributed formation control problem of underactuated unmanned surface vehicles (UUSVs) with uncertainties and disturbances and proposes a novel distributed formation controller. The proposed controller redefines the dynamic and kinematic models for each UUSV, which reduces the complexity of the underactuated controller design. Dynamic surface control (DSC) is employed to eliminate the repeated derivatives of the virtual control law, which is crucial for the generation of real-time control signals. The proposed controller integrates neural network approximation with MLP-based adaptive laws to enhance the model’s resistance to disturbances. Then, an auxiliary adaptive law is designed for each UUSV to obtain a continuous controller under the compensation of approximate errors and disturbances. The results demonstrate that the controller achieves the desired goals for the formation control, and all control signals are guaranteed to be semi-global uniformly ultimately bounded (SGUUB). The final simulation results thoroughly prove the effectiveness of the theoretical results. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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22 pages, 14210 KiB

Open AccessArticle

A-Star (A*) with Map Processing for the Global Path Planning of Autonomous Underwater and Surface Vehicles Operating in Large Areas

by Rafał Kot, Piotr Szymak, Paweł Piskur and Krzysztof Naus

Appl. Sci. 2024, 14(17), 8015; https://doi.org/10.3390/app14178015 - 7 Sep 2024

Cited by 1 | Viewed by 1787

Abstract

The global path planning system is one of the basic systems ensuring the autonomous operation of unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs) in a complex aquatic environment. The A* path planning algorithm is one of the most well-known algorithms used to obtain an almost optimal path, avoiding obstacles even in a complex environment containing objects with specific shapes and non-uniform arrangements. The main disadvantage of this algorithm is the computational cost of path calculation. This article presents a new approach based on the image processing of the map before determining the path using A*. The results of numerical research based on a large-sized map expressing the port area confirm the proposed method’s effectiveness, which reduces the calculation time by over 500 times with a slight increase in the path length compared to the basic version of the A* algorithm. Based on the obtained results, the proposed approach also increases the path’s safety by designating narrow and risky areas as closed to vehicle movement. For this reason, the method seems suitable for use in global path planning for autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) operating in large areas. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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26 pages, 9789 KiB

Open AccessArticle

A Study on the Propulsion Performance of Hybrid-Driven Underwater Glider Equipped with a Kappel Tip Rake Propeller

by Chen-Wei Chen, Jia-Lin Lu, Xu-Peng Chen and Dong-Jie Wang

Appl. Sci. 2024, 14(16), 7245; https://doi.org/10.3390/app14167245 - 17 Aug 2024

Viewed by 1173

Abstract

In order to solve the problem of the lack of maneuverability of the conventional underwater glider, this paper proposes a hybrid-driven underwater glider equipped with a Kappel tip rake propeller, analyzes the propulsion performance of different types of Kappel tip rake propellers in the wake field of the hybrid-driven underwater glider, optimizes the overall propulsion performance of the hybrid-driven underwater glider, and realizes self-propulsion and gliding with high efficiency and low energy consumption. In the research process, the Schnerr–Sauer cavitation model and the cavitation simulation strategy of VOF two-phase flow were adopted, coupled with the SST k-ω and γ transition turbulence model, and the control calculation error was not more than 3%. Based on the hydrodynamic performance study of the Kappel tip rake propeller, the self-propelled simulation was carried out under the working conditions of 6 kn, 5 kn, 4 kn, and 3 kn, and the gliding simulation was carried out under the working conditions of 1 kn, 0.5 kn, and a glide angle of 12°. The propulsion performance of the hybrid-driven underwater glider with different models of Kappel tip rake propellers was analyzed. It was found that the maximum open water propulsion efficiency of the propeller Kap05 had the largest improvement, which was 3.07% higher than that of the reference base propeller. Under the self-propelled condition, the hybrid-driven underwater glider with the propeller Kap05 had the lowest wake fraction, and the propellers Kap04 and Kap05 had the best propulsion performance in the wake field of the hybrid-driven underwater glider. In the gliding condition, the form of the folding paddle can reduce the gliding resistance generated by the propeller by more than 45% and the gliding negative lift by more than 68%. A moderate tip rake can effectively improve the propulsion efficiency of the Kappel tip rake propeller in the wake field of the hybrid-driven underwater glider, reduce energy loss, and improve the overall performance of the hybrid-driven underwater glider. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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12 pages, 4069 KiB

Open AccessArticle

A Method for Extracting Dynamic Vortex Acoustic Signal Characteristics in Island and Reef Channels Based on Time-Reversal Mirrors

by Min Yu, Hang Liu, Wei Zhou and Dingfan Fan

Appl. Sci. 2024, 14(16), 7042; https://doi.org/10.3390/app14167042 - 11 Aug 2024

Viewed by 1073

Abstract

Ships navigating in channels with vortex fields face increased risks. However, these vortex fields can be monitored using acoustic methods. The key is to extract the phase characteristics of sound signals passing through the vortices. Using time-reversal mirrors, this paper studied the extraction method of characteristics both numerically and experimentally, aiming to verify the effectiveness of the numerical simulation method. Starting from this point, the impact of different movement forms and scale changes in vortex fields on the acoustic signal extraction method was further investigated. The results indicate that with the iterations of time reversal (N < 6), the method is effective for uniformly moving vortex fields, when the vortex center moving speed

V_{w}

< 2.2 × 10⁻³ m/s and the radius diffusion speed

V_{r}

< 2.5 × 10⁻³ m/s. On the other hand, for oscillating vortex fields, it is effective when the oscillation amplitude

L_{D}

< 0.15 m and the radius diffusion speed

V_{r}

< 2.4 × 10⁻³ m/s; meanwhile, the dynamic characteristics of the vortex field can be ignored by the phase extraction method based on time-reversal mirrors. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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20 pages, 4002 KiB

Open AccessArticle

A Novel Method of Time-Varying Formation Control Based on a Directed Graph for Multiple Autonomous Underwater Vehicles

by Gang Shao, Lei Wan and Huixi Xu

Appl. Sci. 2024, 14(14), 6377; https://doi.org/10.3390/app14146377 - 22 Jul 2024

Viewed by 1335

Abstract

Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction. The issues surrounding formation control for a multi-AUV system to establish time-varying formations must be investigated. This paper discusses the formation protocol of multi-AUV systems in order to establish the defined time-varying formations. First, when these systems establish formations, the speed of each AUV can be equivalent. After that, consensus-based methods are used to solve the time-varying formation-control problem. The necessary and sufficient process of multi-AUV in achieving time-varying formations is proved. Furthermore, the formula for the time-varying formation center function is provided. Further, we present a protocol law for multi-AUVs to establish time-varying formations. Finally, the theoretical results of a simulation are presented, which validate the formation protocol. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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22 pages, 6161 KiB

Open AccessArticle

Virtual Streamline Traction: Formation Cooperative Obstacle Avoidance Based on Dynamical Systems

by Yiping Liu, Jianqiang Zhang, Yuanyuan Zhang and Jiarui Wang

Appl. Sci. 2024, 14(14), 6087; https://doi.org/10.3390/app14146087 - 12 Jul 2024

Cited by 3 | Viewed by 1038

Abstract

Formation obstacle avoidance is a critical aspect of cooperation among unmanned surface vehicles (USVs). In practical scenarios involving multiple USVs, managing obstacle avoidance during formation assembly and navigation is essential to ensure the success of cooperative tasks. This study devised a formation cooperative obstacle-avoidance scheme utilizing dynamical systems (DS). The traditional interfered fluid dynamical system (IFDS) applied in two-dimensional planes was enhanced to address local minima issues. Furthermore, robust virtual structure patterns were implemented to effectively decouple velocity vectors. Streamlines were optimized by adjusting velocity amplitudes within specific distance intervals, facilitating precise formation assembly amidst multiple obstacles. Additionally, a novel inter-vehicle disturbance method, distinct from the IFDS, was developed to enhance inter-vehicle collision avoidance. The effectiveness of the proposed method in enabling USV formations to adeptly navigate obstacles while maintaining formation integrity and collision-avoidance capabilities was analyzed theoretically and confirmed through simulation. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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19 pages, 5771 KiB

Open AccessArticle

Analysis of Electromagnetic Field Characteristics of Wave Glider

by Taotao Xie, Jiawei Zhang, Dawei Xiao and Qing Ji

Appl. Sci. 2024, 14(11), 4800; https://doi.org/10.3390/app14114800 - 1 Jun 2024

Viewed by 1010

Abstract

A wave glider is an ocean observation platform that utilizes wave energy to drive and solar energy to power. Its metal structure will generate related electromagnetic fields due to corrosion and underwater motion. In the detection of weak electromagnetic field signals underwater, its own electromagnetic field characteristics will have an impact on signal detection. To study the applicability of electric field sensors and magnetic field sensors on wave glider platforms, the structural characteristics of the wave glider were analyzed, and the installation positions of electric field sensors and magnetic field sensors were designed based on the different motion states of the water surface mother body and underwater towing body. The measured electromagnetic field data of the wave glider platform were measured, and the measured data were analyzed. It was determined that the interference electric field energy under typical working conditions of the wave glider was mainly concentrated within 1 Hz, which decreased with increasing frequency, and the magnitude was mV/m. The magnitude of the interference magnetic field is several tens of nT, indicating that the electromagnetic field interference is significant during the working state of the wave glider. Installing an electric field sensor directly at the bottom of the wave glider will cause significant noise interference, while installing the magnetic field sensor directly at the bottom of the tractor will affect the servo and the shaking-induced magnetic field. Moreover, wave gliders should not use electric field signals below 1 Hz as signal sources, but they can utilize axial frequency electromagnetic fields to detect weak electromagnetic signals underwater. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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17 pages, 34672 KiB

Open AccessArticle

Multi-AUV Control Method Based on Inverse Optimal Control of Integrated Obstacle Avoidance Algorithm

by Gang Shao, Lei Wan and Huixi Xu

Appl. Sci. 2023, 13(22), 12198; https://doi.org/10.3390/app132212198 - 10 Nov 2023

Cited by 1 | Viewed by 1170

Abstract

Under complex underwater conditions, multiple AUVs work in one area and they need to cooperate for complicated missions. In this study, a design method was applied for multiple autonomous underwater vehicles (AUVs) that are distributed in an area and suddenly receive a command. Using this method, the AUVs work according to their own state and reach the target while avoiding obstacles automatically in the process of collection. A new optimal control method is proposed that achieves the consensus of multiple AUVs as well as offering obstacle avoidance capability with minimal control effort. A non-quadratic obstacle avoidance cost function was constructed from the perspective of inverse optimal control. The distributed analytic optimal control law depends only on the local information that can be generated by the communication topology, which guarantees the proposed behavior, so that the control law does not require information from all AUVs. A simulation and an experiment were performed to verify the consensus and obstacle avoidance effect. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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21 pages, 7460 KiB

Open AccessArticle

Collaborative Search and Target Capture of AUV Formations in Obstacle Environments

by Xinyu Hu, Yu Shi, Guiqiang Bai and Yanli Chen

Appl. Sci. 2023, 13(15), 9016; https://doi.org/10.3390/app13159016 - 7 Aug 2023

Cited by 6 | Viewed by 1716

Abstract

When performing cooperative search operations underwater, multi-autonomous underwater vehicles formations may encounter array-type obstacles such as gullies and bumps. To safely traverse the obstacle domain, this paper balances convergence time, transformation distance and sensor network power consumption, and proposes a Formation Comprehensive Cost (FCC) model to achieve collision avoidance of the formations. The FCC model is used instead of the fitness function of the genetic algorithm to solve the assignment of capture positions and the improved neural self-organizing map (INSOM) algorithm is proposed to achieve efficient path-planning during the capture process. The simulation experiments in 3D space verify that the proposed scheme can improve the efficiency of robot deployment while ensuring safety. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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31 pages, 1899 KiB

Open AccessSystematic Review

Evolution of Algorithms and Applications for Unmanned Surface Vehicles in the Context of Small Craft: A Systematic Review

by Luis Castano-Londono, Stefany del Pilar Marrugo Llorente, Edwin Paipa-Sanabria, María Belén Orozco-Lopez, David Ignacio Fuentes Montaña and Daniel Gonzalez Montoya

Appl. Sci. 2024, 14(21), 9693; https://doi.org/10.3390/app14219693 - 23 Oct 2024

Cited by 3 | Viewed by 2750

Abstract

The development of autonomous vessels and unmanned surface vehicles (USVs) has generated great interest in the scientific community due to their potential and advantages for use in various environments and applications. Several literature review papers have been produced from different perspectives, contributing to a better understanding of the topic and to the analysis of advances, challenges, and trends. We hypothesize that the greatest attention has been focused on the development of high-impact applications in the maritime sector. Additionally, we depart from the need to investigate the potential and advances of USVs in fluvial environments, which involve particular operating conditions, where there are different socio-environmental conditions and restrictions in terms of access to conventional energy sources and communication systems. In this sense, the main objective of this work is to study USVs in the particular context of small craft. The search for records was conducted in Scopus and Web of Science databases, covering studies published from 2000 to 16 May 2024. The methodology employed was based on the PRISMA 2020 guidelines, which is a widely recognized protocol that ensures quality and rigor in systematic reviews and bibliometric analyses. To optimize the data collection and selection process, the semaphore technique was additionally implemented, allowing for an efficient categorization of the studies found. This combined methodological approach facilitated a systematic and transparent evaluation of the literature. This study was developed based on three research questions about the evolution of research topics, areas of application, and types of algorithms related to USVs. The study of the evolution of works on USVs was carried out based on the results of the meta-analysis generated with the Bibliometrix tool. The study of applications and developments was carried out based on information obtained from the papers for six study categories: application environment, level of autonomy, application area, algorithm typology, methods, and electronic devices used. For each of the 387 papers identified in the databases, labeling was performed for the 359 screened papers with six study categories according to the availability of information in the title and abstract. In the categories application sector, autonomy level, application area and algorithm type/task, it was identified that most studies are oriented toward the maritime sector, the developments to achieve full autonomy for USVs, the development of designs or algorithms at the modeling and simulation level, and the development and implementation of algorithms for the GNC subsystems. Nevertheless, this research has revealed a much wider range of environments and applications beyond maritime, military, and commercial sectors. In addition, from the mapping of the types of algorithms used in the GNC architecture, the study provides information that can be used to guide the design of the subsystems that enable USV autonomy for civilian use in restricted environments. Full article

(This article belongs to the Special Issue Modeling, Guidance and Control of Marine Robotics)

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