Detection of Safe Angle for Water Vehicles due to Vulnerable Swing

Steering of water vehicles is mainly dependent on the aero and hydrodynamic forces. The adverse situation caused by any of the natural disasters inhibits the movement of vehicles. During the hostile situation, the most important thing is safety. In this paper, a method to compute the optimal safe position for water vehicles during instability caused by the vulnerable swing is proposed. A 3-axis accelerometer is used to obtain the roll, pitch, and yaw angles, and using these, we derive a function which gives us the instantaneous instability of the vehicle. If the instability exceeds a predefined threshold, our proposed method calculates the safe angle to reach the optimal safe position. This method is computationally efficient and is suitable for on-board real-time implementation as well as autonomous marine robotic vehicles.