Experimental Analysis of a Thrust Allocation Algorithm for DP Systems Considering the Interference between Thrusters and Thruster-Hull

This paper presents the experimental analysis of the Thrust Allocation Algorithm considering the interference between thrusters and thruster-hull. The first objective is to formulate an allocation algorithm that considers the efficiency curve of the thrusters (in different azimuth positions due to interference phenomena) into the optimization process. The second objective is evaluating, through experiments, the effectiveness of this new algorithm.