SkadiPy

A python library for solving the control allocation problem for marine craft with different types of actuators and control allocation methods.

Installation

Pip

1. Install the package using git from the master branch using

   pip install git+https://github.com/incebellipipo/skadipy.git@master
   

2. Test the installation

   python -c "import skadipy; print(skadipy.__version__)"
   

Virtual Environment

1. Clone the package and create a virtual environment.

   python -m venv venv
   

2. Activate that virtual environment. It would change depending on the OS. On Linux or Mac

   source venv/bin/activate
   

   or on Windows

   venv\Scripts\activate
   

3. Install package dependencies

   pip install -r requirements.txt
   

   Install packages if you wish to run notebooks

   pip install -r requirements.examples.txt
   

   From now on you should be able to run the notebooks and see the results.

4. Install the package

   pip install -e .
   

5. Test the installation

   python -c "import skadipy; print(skadipy.__version__)"
   

   If it doesn't throw any error, the installation was successful.

Directory Structure

• src: Source code for the library
• tests: Unit tests for the library
• examples: Examples of how to use the library
• notebooks: Jupyter notebooks for the library showing examples and documentation.
• docs: Documentation for the library
• bin: Scripts for running the library

Citation

If you use this work, pleae cite the following

@article{GEZER2024374,
    title = {Maneuvering-based Dynamic Thrust Allocation for Fully-Actuated Vessels},
    journal = {IFAC-PapersOnLine},
    volume = {58},
    number = {20},
    pages = {374-379},
    year = {2024},
    note = {15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles CAMS 2024},
    issn = {2405-8963},
    doi = {https://doi.org/10.1016/j.ifacol.2024.10.082},
    url = {https://doi.org/10.1016/j.ifacol.2024.10.082},
    author = {Emir Cem Gezer and Roger Skjetne},
    keywords = {Thrust allocation, Control Allocation, Maneuvering theory, Dynamic Positioning, Nonlinear Control, Control Barrier Functions, Ocean Engineering}
}

Acknowledgements

Work funded by the Research Council of Norway (RCN) through NTNU AMOS (RCN project 223254), SFI AutoShip (RCN project 309230), and the Polish National Centre for Research and Development through the ENDURE project (NOR/POLNOR/ENDURE/0019/2019-00).