The purpose is to provide a program, method and device for controlling a movable body (e.g., single-propeller single-rudder ship) to move the movable body while keeping it orientated in a given direction. A controlling module may cause the movable body to stay at a fixed point position by controlling a thrust generator and a moving direction adjustor to orient the movable body to a direction of a disturbance estimated by a disturbance direction estimating module so that the movable body is not drifted by the disturbance. Every time the changing module sequentially changes the fixed point position, the controlling module may move the movable body to the changed fixed point position. Thus, the control device of the movable body of this disclosure may sequentially move the movable body while keeping it oriented to the direction of the disturbance.
Program, method and device for controlling movable body
2019-01-22
Patent
Elektronische Ressource
Englisch
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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