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

Takanori Nagai; Ryo Watanabe

doi:10.1109/TENCON.2016.7848743

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

Takanori Nagai, Ryo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of the 2016 IEEE Region 10 Conference, TENCON 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3675-3678
Number of pages	4
ISBN (Electronic)	9781509025961
DOIs	https://doi.org/10.1109/TENCON.2016.7848743
Publication status	Published - 2017 Feb 8
Event	2016 IEEE Region 10 Conference, TENCON 2016 - Singapore, Singapore Duration: 2016 Nov 22 → 2016 Nov 25

Other

Other	2016 IEEE Region 10 Conference, TENCON 2016
Country/Territory	Singapore
City	Singapore
Period	16/11/22 → 16/11/25

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TENCON.2016.7848743

Cite this

Nagai, T & Watanabe, R 2017, Applying position prediction model for path following of ship on curved path. in Proceedings of the 2016 IEEE Region 10 Conference, TENCON 2016., 7848743, Institute of Electrical and Electronics Engineers Inc., pp. 3675-3678, 2016 IEEE Region 10 Conference, TENCON 2016, Singapore, Singapore, 16/11/22. https://doi.org/10.1109/TENCON.2016.7848743

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abstract = "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.",

author = "Takanori Nagai and Ryo Watanabe",

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doi = "10.1109/TENCON.2016.7848743",

language = "English",

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booktitle = "Proceedings of the 2016 IEEE Region 10 Conference, TENCON 2016",

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note = "2016 IEEE Region 10 Conference, TENCON 2016 ; Conference date: 22-11-2016 Through 25-11-2016",

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AB - 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.

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

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