Patent ID: 8613634
Filing Date: 2013-12-24
Classification: B63H,G05D

Abstract:
1. A method for controlling a marine vessel comprising a first steerable propulsor, a second steerable propulsor, a first vessel control apparatus configured to control rotational movement of the marine vessel and having at least a first degree of freedom, and a second vessel control apparatus configured to control translational movement of the marine vessel and having at least second and third degrees of freedom, the method comprising: receiving a vessel control signal corresponding to a movement of the first vessel control apparatus along the first degree of freedom with the second vessel control apparatus in neutral position, wherein movement of the first vessel control apparatus along the first degree of freedom controls rotational movement of the marine vessel, and wherein movement of the second vessel control apparatus along at least one of the second and third degrees of freedom controls translational movement of the marine vessel; and inducing a net rotational force to the marine vessel such that substantially no net translational force is induced to the marine vessel, the inducing comprising controlling the first and second steerable propulsors to be pointed inward, in response to receiving the vessel control signal.