ISSN 2083-6473
ISSN 2083-6481 (electronic version)




Associate Editor
Prof. Tomasz Neumann

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
www http://www.transnav.eu
e-mail transnav@umg.edu.pl
Waypoint Path Controller for Ships
ABSTRACT: The paper presents and discusses tests of a waypoint controller used to sail a ship along the desired route. The planned desired route for the moving ship is given as a set of waypoints connected with straight lines. The ship's control is based on the rudder blade deflection angle as a commanded parameter. The task of the controller is to determine the rudder angle which will allow the ship to sail along the desired route segment. The controller algorithm consists of two parts, the first of which is used for controlling the ship motion along linear segments of the desired route, while the second part is used when changing to the next route segment. A switching mechanism is designed to choose the relevant part of the control algorithm. The quality of operation of the ship motion control algorithm was tested on the training ship Blue Lady, at the Ship Handling Research and Training Centre located on the lake Silm at Kamionka near Iława, Poland.
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Citation note:
Tomera M., Alfuth Ł.: Waypoint Path Controller for Ships. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 14, No. 2, doi:10.12716/1001.14.02.14, pp. 375-383, 2020
Authors in other databases:
Mirosław Tomera: Scopus icon11440021100 Scholar iconuwluWZcAAAAJ
Łukasz Alfuth:

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