Applying position prediction model for path following of ship on curved path

Takanori Nagai, Ryo Watanabe

    研究成果: Conference contribution

    2 被引用数 (Scopus)

    抄録

    We propose to introduce a ship position prediction model for a path following control system of a ship to improve the path following performance on a curved path. Numerical simulation of the proposed control system with the position prediction model showed that the path following performance and rudder angle behavior improved significantly compared to those by the conventional method. The monotone cubic Hermite spline interpolation (MCHSI) is used for the path planning. The path following control system consists of the position prediction model, line-of-sight (LOS) guidance, and a LQI controller. In addition, it was found that the 1st-order position prediction model was sufficient for the path following of a ship since the 1st and 2nd order models gave nearly the same performance.

    本文言語English
    ホスト出版物のタイトルProceedings of the 2016 IEEE Region 10 Conference, TENCON 2016
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ3675-3678
    ページ数4
    ISBN(電子版)9781509025961
    DOI
    出版ステータスPublished - 2017 2 8
    イベント2016 IEEE Region 10 Conference, TENCON 2016 - Singapore, Singapore
    継続期間: 2016 11 222016 11 25

    Other

    Other2016 IEEE Region 10 Conference, TENCON 2016
    国/地域Singapore
    CitySingapore
    Period16/11/2216/11/25

    ASJC Scopus subject areas

    • コンピュータ サイエンスの応用
    • 電子工学および電気工学

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