Drift dynamics modeling for automatic track-keeping of inland vessels

Abstract

As part of an integrated navigation system for inland vessels, atrack-keeping controller is being developed in the Max Planck Institute, Magdeburg. The reduced space availability on inland waterways demands a high performance of the automatic guidance system. Therefore, model based strategies are used. Due to the characteristics of inland navigation, not only accurate but also simple mathematical models are required. Particularly, restricted conditions for parameter identification experiments should be accounted for. A physical modeling approach allowing the selection of the relevant effects is presented in this paper. In comparison to seagoing vessels the drift phenomenon observed during course changing maneuvers has turned out to be of paramount importance and is studied in detail. Special emphasis is laid on the impact of water current as an important effect on rivers. The model derived is partly verified by experimental results of turning circle maneuvers