| Author | Search for: Murrant, Kevin A.1; Search for: Seidl, Marius; Search for: Gash, Robert M.1; Search for: Pearson, Wayne G.1ORCID identifier: https://orcid.org/0000-0003-2163-0071; Search for: Mills, Jason W.1ORCID identifier: https://orcid.org/0000-0002-3040-9048; Search for: Islam, M. Shameem1ORCID identifier: https://orcid.org/0000-0002-2129-5333 |
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| Affiliation | - National Research Council of Canada. Ocean, Coastal and River Engineering
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| Format | Text, Article |
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| Conference | POAC'25, 28th International Conference on Port and Ocean Engineering under Arctic Conditions, July 13-17, 2025, St. John’s, Newfoundland and Labrador, Canada |
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| Subject | controller; ice; navigation; port operations; pushing |
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| Abstract | This paper presents a controller topology for maneuvering a floating object via direct pushing with a ship. The approach focuses on two primary tasks: the approach phase, where the ship aligns with and closes the distance to the object, and the manipulation phase, where the object is controlled while maintaining physical contact. The proposed control system combines trajectory planning with maneuvering the object by pushing at a strategically chosen point of contact, maintaining stability as it is guided toward the goal position. The controller is designed to handle the complex dynamics of ship-ice interactions and to mitigate external disturbances, including wind, waves, and currents.
The control system is implemented and evaluated through both simulation and experimental studies. Simulations are used to assess the robustness of the controller topology and its ability to perform effectively across a range of geometric configurations. Experimental results investigate the behavior of the control framework in model test scenarios, offering insights into practical considerations such as contact force variability and complex hydrodynamics not modeled in simulation.
Although this work focuses on single-agent manipulation of a floating object, it paves the way for future extensions to more complex scenarios. Future research will explore the use of multiple ships working cooperatively as a swarm to manipulate multiple floating objects, with an emphasis on minimizing interaction effects and ensuring effective coordination. These advancements aim to address broader challenges in Arctic ice management and other maritime applications involving collaborative systems for floating object control. |
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| Publication date | 2025 |
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| Publisher | Port and Ocean Engineering Under Arctic Conditions |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 693aa2d4-6f42-40e8-8848-6cf01b68d2ae |
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| Record created | 2025-10-06 |
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| Record modified | 2025-10-07 |
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