Adaptive System for Steering a Ship Along the Desired Route

Borkowski, Piotr

doi:10.3390/math6100196

Cited by 13 publications

(10 citation statements)

References 26 publications

(33 reference statements)

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“…To verify the correct operation of the proposed interpolation mechanism (4), 200 computational experiments were conducted for various starting conditions and rudder settings. In the simulations, the non-linear de Witt-Oppe model was used to represent a real object [ 35 , 36 , 37 ]. In all of the examined cases, the interpolation error did not exceed 10% of the difference between the maximum and the minimum value of the measurements in the interpolation nodes

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Section: Interpolation Of Ship’s State Vectormentioning

confidence: 99%

The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship’s State Vector

Borkowski

Pietrzykowski

Magaj

2021

Sensors

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The determination of a ship’s safe trajectory in collision situations at sea is one of the basic functions in autonomous navigation of ships. While planning a collision avoiding manoeuvre in open waters, the navigator has to take into account the ships manoeuvrability and hydrometeorological conditions. To this end, the ship’s state vector is predicted—position coordinates, speed, heading, and other movement parameters—at fixed time intervals for different steering scenarios. One possible way to solve this problem is a method using the interpolation of the ship’s state vector based on the data from measurements conducted during the sea trials of the ship. This article presents the interpolating function within any convex quadrilateral with the nodes being its vertices. The proposed function interpolates the parameters of the ship’s state vector for the specified point of a plane, where the values in the interpolation nodes are data obtained from measurements performed during a series of turning circle tests, conducted for different starting conditions and various rudder settings. The proposed method of interpolation was used in the process of determining the anti-collision manoeuvre trajectory. The mechanism is based on the principles of a modified Dijkstra algorithm, in which the graph takes the form of a regular network of points. The transition between the graph vertices depends on the safe passing level of other objects and the degree of departure from the planned route. The determined shortest path between the starting vertex and the target vertex is the optimal solution for the discrete space of solutions. The algorithm for determining the trajectory of the anti-collision manoeuvre was implemented in autonomous sea-going vessel technology. This article presents the results of laboratory tests and tests conducted under quasi-real conditions using physical ship models. The experiments confirmed the effective operation of the developed algorithm of the determination of the anti-collision manoeuvre trajectory in the technological framework of autonomous ship navigation.

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Section: Interpolation Of Ship’s State Vectormentioning

confidence: 99%

The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship’s State Vector

Borkowski

Pietrzykowski

Magaj

2021

Sensors

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“…Hence, every finite sum or a suitable infinite series whose terms have the form, Equation (26), is a solution of the boundary value problem, Equations (1)-(3). Thus, the general solution is…”

Section: Solution Of the Dispersion Model For Closed Vesselsmentioning

confidence: 99%

Optimization of the Solution of a Dispersion Model

et al. 2020

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The study of the combination of chemical kinetics with transport phenomena is the main step for reactor design. It is possible to deviate from the model behaviour, the cause of which may be fluid channelling, fluid recirculation, or creation of stagnant regions in the vessel, by using a dispersion model. In this paper, the known general solution of the dispersion model for closed vessels is given in a new, straightforward form. In order to improve the classical theoretical solution, a hybrid of analytical and numerical methods is used. It is based on the general analytic solution and the least-squares method by fitting the results of a tracer test carried out on the vessel with the values of the analytic solution. Thus, the accuracy of the estimation for the vessel dispersion number is increased. The presented method can be used to similar problems modelled by a partial differential equation and some boundary conditions which are not sufficient to ensure the uniqueness of the solution.

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“…For this purpose, the cross tracking error needs to be considered in the controllers. In research [12,13], precision maneuvering and adaptive autopilots were introduced for track-keeping. In References [14][15][16][17], the authors used neural networks to approach this problem.…”

Section: Literaturementioning

confidence: 99%

Research on a Support System for Automatic Ship Navigation in Fairway

Nguyen

2019

Future Internet

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In previous investigations, controllers for the track-keeping of ships were designed with the assumption of constant ship speed. However, when navigating in a fairway area, the ship’s speed is usually decreased to prepare for berthing. The existing track-keeping systems, which are applied when the ship navigates in the open sea with a constant ship speed, cannot be used to navigate the ship in the fairway. In this article, a support system is proposed for ship navigation in the fairway. This system performs three tasks. First, the ship is automatically controlled by regulating the rudder to follow planned tracks. Second, the ship’s speed is reduced step by step to approach the berth area at a low speed. Finally, at low speed, when the ship’s rudder is not effective enough to control the ship’s heading to a desired angle, the ship’s heading is adjusted appropriately by the bow thruster before changing the control mode into the automatic berthing system. By the proposed system, the automatic systems can be combined to obtain a fully automatic system for ship control. To validate the effectiveness of this proposed system for automatic ship navigation in the fairway, numerical simulations were conducted with a training ship model.

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Adaptive System for Steering a Ship Along the Desired Route

Cited by 13 publications

References 26 publications

The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship’s State Vector

The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship’s State Vector

Optimization of the Solution of a Dispersion Model

Research on a Support System for Automatic Ship Navigation in Fairway

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