Physics Based Real-time Model of Tugboat Operations

Abstract

Marine training simulation systems have become an intriguing and complex open research area where signi cant research e ort has been devoted to model behav- ior of marine vehicles. These types of training simulation systems are capable of ensuring safety, reducing training cost and testing new procedures. Tugboats are the ocean vehicles that used for berthing vessels in harbor environment. Hence tugboat handling ability will ensure safety at harbor environment. Hence tug- boat handling is very important and complex task. But consideration on tugboat training simulation systems are very low with respect to ship simulation systems. This study explores the modelling techniques to simulate a physics based real-time generic ship-tug interaction motions. In this study we proposed relative velocity based approach for ship-tug interaction based on modular mathematical model. Thus goal of this project was to nd better and simple modelling technique to simulate ship-tug interaction behavior. Hence this research mainly concentrates on physics involved in ship-tug interaction and deriving mathematical model for the situation. Application consists with two basic models for both ship and tugboat. But only tugboat model is interactive according to our assumptions. Implementation of the research was done by using Unity3D game engine and the prototype system was evaluated against real-world data and basic physics laws. Results shows that our model is in acceptable level and can be carried out in real time.