Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Design of Course Keeping Controller for RIB-type USV Using a Pilot's Steering Pattern

조종자 입력패턴을 활용한 RIB형 무인선의 침로제어기 설계

  • 윤근항 (한국해양연구원 해양시스템안전연구소) ;
  • 여동진 (한국해양연구원 해양시스템안전연구소) ;
  • 윤현규 (창원대학교 조선해양공학과)
  • Received : 2009.11.09
  • Accepted : 2010.04.12
  • Published : 2010.06.20
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Abstract

A new course keeping controller for RIB(Rigid Inflatable Boat)-type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To validate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than $20^{\circ}$, which makes it possible that fast course changes without slip motion of USV.

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References

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