Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles
Abstract
:1. Introduction
2. Path-Following Control System
3. Time-Varying Vector Field Guidance Law
4. Risk-Based Obstacle Collision Avoidance System
5. Case Study
5.1. Nonlinear Manoeuvring Model
5.2. Single Static Obstacle
5.3. Multi Static Obstacles
5.4. Collision Avoidance Test Using Ship Model
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Test a | Test b | Test c | Test d | |
---|---|---|---|---|
Path length (m) | 29.142 | 23.648 | 26.950 | 48.820 |
Computational cost (s) | 1.738 | 1.310 | 1.324 | 2.167 |
Test a | Test b | |
---|---|---|
Path length (m) | 34.075 | 34.576 |
Computational cost (s) | 1.474 | 1.516 |
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Xu, H.; Hinostroza, M.A.; Guedes Soares, C. Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles. J. Mar. Sci. Eng. 2021, 9, 652. https://doi.org/10.3390/jmse9060652
Xu H, Hinostroza MA, Guedes Soares C. Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles. Journal of Marine Science and Engineering. 2021; 9(6):652. https://doi.org/10.3390/jmse9060652
Chicago/Turabian StyleXu, Haitong, Miguel A. Hinostroza, and C. Guedes Soares. 2021. "Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles" Journal of Marine Science and Engineering 9, no. 6: 652. https://doi.org/10.3390/jmse9060652