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http://dx.doi.org/10.5302/J.ICROS.2005.11.4.363

A Proposal of an LOS Guidance System of a Ship for Path Following  

Kim Jonghwa (한국해양대학교 IT공학부)
Lee Byungkyul (한국해양대학교 제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.4, 2005 , pp. 363-368 More about this Journal
Abstract
This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.
Keywords
LOS guidance system; way-point; path following; ship control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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