Abstract:The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate risks, but they may not accurately represent real-world dynamics for the given tasks. Utilizing small-scale model ships and robotic vessels in conjunction with a laboratory basin provides an accessible testing environment for the early stages of validation processes. However, designing and developing a model vessel for a single test can be costly and cumbersome, and researchers often lack access to such infrastructure. To address these challenges and enable streamlined testing, we have developed an in-house testbed that facilitates the development, testing, verification, and validation of MASS algorithms in a digital-physical laboratory. This infrastructure includes a set of small-scale model vessels, a simulation environment for each vessel, a comprehensive testbed environment, and a digital twin in Unity. With this, we aim to establish a full design and verification pipeline that starts from low-fidelity and moves up to high-fidelity simulation models of each vessel, and thereby to the model-scale testing of the vessel in the laboratory basin. Further advancement allows moving towards semi-full-scale validation with R/V milliAmpere1 and full-scale validation with R/V Gunnerus. In this work, we present our progress on the development of this testbed environment and its components, demonstrating its effectiveness in enabling ship autonomy guidance, navigation, and control (GNC) algorithms.
From: Emir Cem Gezer [view email]
[v1]
Sat, 10 May 2025 23:48:32 UTC (1,700 KB)
[v2]
Wed, 28 May 2025 12:45:34 UTC (1,787 KB)
[v3]
Wed, 4 Jun 2025 08:30:01 UTC (879 KB)
[v4]
Mon, 6 Oct 2025 10:16:42 UTC (1,700 KB)
[v5]
Fri, 17 Jul 2026 19:44:41 UTC (5,153 KB)
此内容由惯性聚合(RSS阅读器)自动聚合整理，仅供阅读参考。 原文来自 — 版权归原作者所有。