A fuzzy track-keeping autopilot for ship steering

Omerdić, Edin; Roberts, G.N.; Vukić, Zoran

doi:10.1080/20464177.2003.11020163

Cited by 20 publications

(7 citation statements)

References 6 publications

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“…Wave generation is required for ship movement simulations designed for various problems (navigation along a preset trajectory, dynamic positioning systems, collision avoidance, etc.) [17][18][19][20], and makes up a preliminary stage in designing control systems before sea trials of a ship. The inclusion of wave disturbance is also recommended in other problems relating to modern marine navigation [21][22][23][24][25][26][27][28][29].…”

Section: Discussionmentioning

confidence: 99%

Numerical Modeling of Wave Disturbances in the Process of Ship Movement Control

Borkowski¹

2018

Algorithms

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The article presents a numerical model of sea wave generation as an implementation of the stochastic process with a spectrum of wave angular velocity. Based on the wave spectrum, a forming filter is determined, and its input is fed with white noise. The resulting signal added to the angular speed of a ship represents disturbances acting on the ship’s hull as a result of wave impact. The model was used for simulation tests of the influence of disturbances on the course stabilization system of the ship.

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Section: Discussionmentioning

confidence: 99%

Numerical Modeling of Wave Disturbances in the Process of Ship Movement Control

Borkowski¹

2018

Algorithms

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“…The waypoint switching system helps to find a suitable point to use a rudder, and the rudder control system allows the ship to follow the desired track. The both systems were developed applying fuzzy inference that is known to be effective for dealing with nonlinear problem such as a ship control by implementing human ability [11,12].…”

Section: Track Keeping Algorithmmentioning

confidence: 99%

Automatic Track Keeping to Realize the Realistic Operation of a Ship

Choe

Furukawa²

2019

IJFIS

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This paper introduces an automatic track keeping algorithm consisted of two systems, which are a waypoints switching system and a rudder control system. Fuzzy inference based on human manipulation experiences is applied to the both system to realize the actual ship operation. In the waypoints switching system, a course change angle is reflected as input data to find out optimal point at where rudder is used. The obtained optimal point allows the ship to follow a route accurately without overshoots such as cross track error and heading error. Heading error, cross track error and difference between current yaw rate and desired yaw rate are considered to control rudder appropriately. The desired yaw rate is derived using the heading error and the cross track error, and suitable rudder angle is inferred by comparing current yaw rate with the desired yaw rate. Numerical simulations were carried out to verify the effectiveness of the proposed algorithm. Instead of evaluating the algorithm under virtual environment with geometrical route and assumed external disturbance, scenarios for simulations were created by utilizing route plans used in actual operations. Actual conditions of wind and current at sea were applied to prove capability in the real world situation. It was observed by the simulation results that a ship traveled on a pre-planned path defined in a route plan and overshoots hardly occurred. It can be said that the algorithm has sufficient performance for ship track keeping.

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“…In comparison with others, fuzzy logic is considered a suitable approach because it has the ability to perform the wheel alteration of ship as helmsman's action with the perception and inference of input levels. As suggested in research [23], the authors proposed the fuzzy track-keeping system by suggesting the use of two sub-autopilots. In this system, first the fuzzy controller is used to control the ship course, and a second one is employed to regulate the distance off-set.…”

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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A fuzzy track-keeping autopilot for ship steering

Cited by 20 publications

References 6 publications

Numerical Modeling of Wave Disturbances in the Process of Ship Movement Control

Numerical Modeling of Wave Disturbances in the Process of Ship Movement Control

Automatic Track Keeping to Realize the Realistic Operation of a Ship

Research on a Support System for Automatic Ship Navigation in Fairway

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