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You are here : eLibrary : Ice Research and Engineering : 22nd Symposium_Singapore (2014) : THEME 1- CLIMATE CHANGE IMPACTS ON THE CRYOSPHERE : LOS GUIDANCE FOR TOWING AN ICEBERG ALONG A STRAIGHT-LINE PATH
LOS GUIDANCE FOR TOWING AN ICEBERG ALONG A STRAIGHT-LINE PATH
Author : Andreas Orsten, Petter Norgren , Roger Skjetne
Motivated by the need to develop a reliable and safe way of towing icebergs, this paper investigates the use of a feedback-based guidance algorithm for steering the iceberg along a pre-defined safe track. A simplified, linear iceberg model is developed in 2 degrees of freedom (DOF) to capture the horizontal motion, including the effect of constant and irrotational ocean currents. Previously, a Line-of-Sight (LOS) algorithm has been modified to include the effect of an ocean current, using integral action. In this paper, the current-modified LOS algorithm is augmented in order to apply it to the 2-DOF horizontal iceberg model. The output of the iceberg LOS algorithm is desired towline angle. Guidance of the model is achieved through a tow force T with direction that should conform to .
File Size : 1,404,249 bytes
File Type : Adobe Acrobat Document
Chapter : Ice Research and Engineering
Category : 22nd Symposium_Singapore (2014)
Article : THEME 1- CLIMATE CHANGE IMPACTS ON THE CRYOSPHERE
Date Published : 13/07/2016
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