Route tracking is one of the primary functional modules of autonomous ship navigation and serves as the foundation for achieving ship maneuvering motion control. This paper presents a novel method for ship route tracking that enables vessels to navigate along planned routes and control their speed to reach the destination at a specified velocity. The proposed approach employs an incremental PID (Proportion Integral Differential) method for course control, ensuring precise navigation and adherence to the planned trajectory. Additionally, the speed control is achieved using a bisection method combined with practical maritime experience, allowing for effective speed adjustments to meet the desired arrival conditions. Simulation experiments validate the robustness and efficiency of this method, highlighting its potential to improve navigational accuracy and operational safety in maritime contexts.
Intelligent Ship Route Tracking Method Based on Practical Maritime Experience
2024-11-08
1147534 byte
Conference paper
Electronic Resource
English
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