Szelangiewicz Tadeusz, Żelazny Katarzyna, Antosik Andrzej, Szelangiewicz Maciej
Faculty of Navigation, Maritime University of Szczecin, Wały Chrobrego 1-2, 70-500 Szczecin, Poland.
Company Smart-Electronics, 72-002 Dołuje, Poland.
Sensors (Basel). 2021 Feb 12;21(4):1312. doi: 10.3390/s21041312.
Unmanned autonomous transport vessels (MASS) are the future of maritime transport. The most important task in the design and construction of unmanned ships is to develop algorithms and a computer program for autonomous control. In order for such a computer program to properly control the ship (realizing various functions), the ship must be equipped with a computer system as well as measurement sensors and navigation devices, from which the recorded parameters are processed and used for autonomous control of the ship. Within the framework of conducted research on autonomous ships, an experimental model of an unmanned ship was built. This model was equipped with a propulsion system not commonly used on transport vessels (two azimuth stern thrusters and two bow tunnel thrusters), but providing excellent propulsion and steering characteristics. A complete computer system with the necessary measuring sensors and navigation devices has also been installed in the model of the ship, which enables it to perform all functions during autonomous control. The objective of the current research was to design and build a prototype computer system with the necessary measurement sensors and navigation devices with which to autonomously control the unmanned ship model. The designed computer system is expected to be optimal for planned tasks during control software tests. Tests carried out on open waters confirmed the correctness of the operation of the computer system and the entire measurement and navigation equipment of the built model of the unmanned transport vessel.
无人驾驶自主运输船舶（MASS）是海上运输的未来。无人驾驶船舶设计和建造中最重要的任务是开发用于自主控制的算法和计算机程序。为了使这样的计算机程序能够正确控制船舶（实现各种功能），船舶必须配备计算机系统以及测量传感器和导航设备，对记录的参数进行处理并用于船舶的自主控制。在对自主船舶进行的研究框架内，建造了一艘无人驾驶船舶的实验模型。该模型配备了运输船舶不常用的推进系统（两个艉部全回转推进器和两个首部隧道推进器），但具有出色的推进和操纵特性。船舶模型中还安装了一个完整的计算机系统以及必要的测量传感器和导航设备，使其能够在自主控制期间执行所有功能。当前研究的目标是设计和构建一个带有必要测量传感器和导航设备的原型计算机系统，用于自主控制无人驾驶船舶模型。预计所设计的计算机系统在控制软件测试期间对于计划任务将是最优的。在开阔水域进行的测试证实了计算机系统以及所建造的无人驾驶运输船舶模型的整个测量和导航设备运行的正确性。
