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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: 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

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Beschikbaar in	Auteurs
VLIZ: Non-open access 398667 [ aanvragen ] Waterbouwkundig Laboratorium: Open Repository 395558 [ download pdf ] Waterbouwkundig Laboratorium: Non-open access 395553 [ aanvragen ]

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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

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Auteurs		Top
Chen, C., meer Delefortrie, G., meer Mansuy, M., meer Lataire, E., meer

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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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