Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle

Table 2

Calculation of energy consumption for roll stabilizing.

Significant wave height; (m)	Heading angle; (°)	RSP based on; (%)	RSP based on; (%)	EC based on; (J)	EC based on; (J)	ESR; (%)
	5°	79.91	79.64	419726	358740	14.53
	0°	83.76	80.39	444810	377648	15.10
	5°	81.23	79.95	403842	343871	14.85