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

Takanori Nagai, Ryo Watanabe

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)


    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.

    Original languageEnglish
    Title of host publicationProceedings of the 2016 IEEE Region 10 Conference, TENCON 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Number of pages4
    ISBN (Electronic)9781509025961
    Publication statusPublished - 2017 Feb 8
    Event2016 IEEE Region 10 Conference, TENCON 2016 - Singapore, Singapore
    Duration: 2016 Nov 222016 Nov 25


    Other2016 IEEE Region 10 Conference, TENCON 2016

    ASJC Scopus subject areas

    • Computer Science Applications
    • Electrical and Electronic Engineering


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