Data acquisition and autonomous control of free running ship models using video motion capture

Abstract

This paper presents the experimental setup and results from a new data acquisition and autonomous control system, using real time video motion capture feedback. The onboard data acquisition and control system, based on a National Instruments myRIO1900, was implemented in LabVIEW following a robotic architecture of sense-plan-act. A local wireless network was setup to view and control the real time LabVIEW VI from a laptop, with a Qualisys motion capture system used to track and stream (UDP) the model motions (6DOF) to the model in real time. The system, demonstrated on a 1:50 scale model bulk carrier model, was developed for comparative testing of an energy saving bow foil as part of the H2020 European SeaTech project (www.seatech2020.eu). The experimental setup and results from tests in the University of Southampton Boldrewood towing tank and the QinetiQ Haslar Ocean Basin are presented characterising the performance of the system. Results including propeller rpm control, rudder control (open and closed loop control), speed and heading control in calm water and in regular waves (streaming Qualisys motion data in real time) are presented. In addition, speed control under a moving carriage and autonomous waypoint following (including pure pursuit and line of sight methods) in the towing tank and Ocean Basin are presented. The results demonstrate the potential of the system for free running manoeuvring and seakeeping experiments. The presented data acquisition and control system software provides a new tool that can be applied in hydrodynamic ship model experiments, providing a flexible and modifiable framework for various hydrodynamic experimental investigations, reducing development time and costs associated with ship model testing.

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ORCID for Nicholas Townsend: orcid.org/0000-0001-6996-3532

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