Kelvin wake simulation for USV

author: Yao He

Paper link and citation

Link: https://ieeexplore.ieee.org/document/9517533

To cite this

@inproceedings{HeSQJQ21,
  title = {Computational Efficient Simulation of Kelvin Wake for Unmanned Surface Vehicles},
  author = {Yao He and Qinbo Sun and Weimin Qi and Xiaoqiang Ji and Huihuan Qian},
  year = {2021},
  doi = {10.1109/RCAR52367.2021.9517533},
  url = {https://doi.org/10.1109/RCAR52367.2021.9517533},
  pages = {1070-1075},
  booktitle = {IEEE International Conference on Real-time Computing and Robotics, RCAR 2021, Xining, China, July 15-19, 2021},
  publisher = {IEEE},
  isbn = {978-1-6654-3678-6}
}

Dependencies

C++ 11 and above

No specific third party repositories

Usage

Include the file to your project file folders then use CMake to build it.

Specific steps

1. Use the shipCourse class to generate the course for each ship
2. Generate a global water surface grid using surfaceGrid class
3. Update each ship course at each time stamp using

shipCourse::expand()

Every ship position is in the frame of your generated surface gird.

4. Output wake data to surface grid using

shipCourse::outputDataToGrid(surfaceGrid)

Every point (x,y) is in the frame of your generated surface gird.

5. Store wake data to .csv file

surfaceGrid::outputData(filename)

6. Get wake elevation at point (x, y) in the world call

shipCourse::getElevation(x,y)

If there are multiple ships, you should itter all the ship courses. Every point (x,y) is in the frame of your generated surface gird.

Running the example

We provide an example KW_example for you to run.

Steps:

1. Build the porject using CMake

$ cmake .
$ make

2. Run the example

$ ./KW_example

3. For comparison, we provide a calculated_example using equation (1) in the paper.

$ ./calculated_example

4. The generated wake data will be store in .csv files. Use Matlab script to visualize the results. We provide the visualization scripts in the script folder. You should specify the .csv file name in the script.

5. To see the effect when ship speed varies, run the following demo

$./varied_speed_example

Sample results

Ship speed 2m/s

Ship speed varies

See more in figures folder.