Implementation of Ship Trajectory Following Algorithm

• 영문명: Implementation of Ship Trajectory Following Algorithm
• 발행기관: 한국항해항만학회
• 저자명: 최원진 전승환
• 간행물 정보: 『한국항해항만학회지』제47권 제2호, 49~56쪽, 전체 8쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2023.04.30

영문 초록

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

목차

1. Introduction

2. Trajectory following algorithm

3. Experiments and results

4. Conclusions

References

키워드

ship group navigation system trajectory following line-of-sight guidance law PD control speed control RC model boat