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http://dx.doi.org/10.5394/KINPR.2022.46.6.554

Development of Sailing Algorithm for Ship Group Navigation System  

Wonjin, Choi (Graduate School of Korea Maritime and Ocean University)
Seung-Hwan, Jun (Division of Navigation Convergence Studies, Korea Maritime and Ocean University)
Publication Information
Journal of Navigation and Port Research / v.46, no.6, 2022 , pp. 554-561 More about this Journal
Abstract
Technology development related to maritime autonomous surface ships (MASS) is actively progressing around the world. However, since there are still many technically unresolved problems such as communication, cybersecurity, and emergency response capabilities, it is expected that it will take a lot of time for MASS to be commercialized. In this study, we proposed a ship group navigation system in which one leader ship and several follower ship are grouped into one group. In this system, when the leader ship begins to navigate, the follower ship autonomously follows the path of the leader ship. For path following, PD (proportional-derivative) control is applied. In addition, each ship navigates in a straight line shape while maintaining a safe distance to prevent collisions. Speed control was implemented to maintain a safe distance between ships. Simulations were performed to verify the ship group navigation system. The ship used in the simulation is the L-7 model of KVLCC2, which has related data disclosed. And the MMG (Maneuvering Modeling Group) standard method proposed by the Japan Society of Naval Architects and Ocean Engineering (JASNAOE) was used as a model of ship maneuvering motion. As a result of the simulation, the leader ship navigated along a predetermined route, and the follower ship navigated along the leader ship's path. During the simulation, it was found that the three ships maintained a straight line shape and a safe distance between them. The ship group navigation system is expected to be used as a navigation system to solve the problems of MASS.
Keywords
MASS; ship group navigation system; path following; PD control; MMG model;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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