Kinematic models for manoeuvring and seakeeping of marine vessels
Perez, Tristan & Fossen, Thor I. (2007) Kinematic models for manoeuvring and seakeeping of marine vessels. Modeling, Identification and Control, 28(1), pp. 19-30.
The motion of marine vessels has traditionally been studied using two different approaches: manoeuvring and seakeeping. These two approaches use different reference frames and coordinate systems to describe the motion. This paper derives the kinematic models that characterize the transformation of motion variables (position, velocity, accelerations) and forces between the different coordinate systems used in these theories. The derivations hereby presented are done in terms of the formalism adopted in robotics. The advantage of this formulation is the use of matrix notation and operations. As an application, the transformation of linear equations of motion used in seakeeping into body-fixed coordinates is considered for both zero and forward speed.
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|Item Type:||Journal Article|
|Keywords:||Kinematics, Ship motion, Seakeeping, Manoeuvring|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2007 Norwegian Society of Automatic Control|
|Deposited On:||01 May 2014 00:41|
|Last Modified:||16 Jun 2014 03:27|
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