Method and apparatus for controlling a marine vessel

Abstract

One embodiment of the invention comprises a method for controlling a marine vessel having a first steerable propulsor, a corresponding first reversing device, a second steerable propulsor and a corresponding second reversing device. The method comprises receiving a first vessel control signal corresponding to a rotational movement and no translational movement command, generating at least a first actuator control signal and a second actuator control signal in response to the first vessel control signal, coupling the first actuator control signal to and controlling the first steerable propulsor and the second steerable propulsor, and coupling the second actuator control signal to and controlling the first reversing device and to the second reversing device. The method creates rotational forces on the marine vessel with substantially no translational forces on the marine vessel.

What is claimed is: 
     
         1 - 23 . (canceled) 
     
     
         24 . A method for controlling a marine vessel comprising a first steerable propulsor, a second steerable propulsor, a first vessel control apparatus, and a second vessel control apparatus, the method comprising:
 receiving a vessel control signal corresponding to a movement of the first vessel control apparatus with the second vessel control apparatus in neutral position; 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.