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Path following controller for autonomous ships: simulation, experiment, and application in shallow water
Chen, C.; Delefortrie, G.; Mansuy, M.; Lataire, E. (2024). Path following controller for autonomous ships: simulation, experiment, and application in shallow water. J. Mar. Sci. Technol. 29(1): 181-199. https://dx.doi.org/10.1007/s00773-023-00980-3
In: Journal of Marine Science and Technology. Springer: Tokyo. ISSN 0948-4280; e-ISSN 1437-8213, meer
Peer reviewed article  
Beschikbaar in  Auteurs 
Trefwoorden
    Containers > Tanks > Towing tanks
    Harbours and waterways > Manoeuvring behaviour > Open water
    Physical modelling
    Simulations
    Water > Shallow water
    Marien/Kust
Author keywords
    Manoeuvring simulator; Path following controller
Auteurs  Top 
  • Chen, C.
  • Delefortrie, G., meer
  • Mansuy, M., meer
  • Lataire, E., meer
Abstract
    This study aims to develop a practical path following controller and examine its control effects for large-sized ships in shallow water. First, a new controller is designed and implemented in a ship manoeuvring simulator, and the controller’s tracking capacity is evaluated via controlling a 6 DOF math model following a prescribed path at various speeds and water depths. Then, towing tank tests are conducted with the corresponding physical model to validate the simulation results. Based on experimental results, comparisons are executed between the proposed controller and the traditional controllers (e.g. fuzzy controller). Finally, the applicability of the controller is investigated through simulations of the ship transiting the Panama Canal, meanwhile, the bank effects on the controller’s performance are discussed. The results show that the designed controller offers satisfactory tracking performance. Simulation results match well with the experimental results despite slight discrepancies. Additionally, satisfactory path following performance is obtained by the simulations in the canal. To conclude, the proposed controller is able to fulfill path following missions in shallow water with high precision and can be applied in the manoeuvring simulator.
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