The authors of this paper make a noble attempt to devise a strategic avoidance mechanism from collision of two ships, during overtaking in a narrow channel using active disturbance rejection control tool designed on path planning and tracking method. Firstly, the trajectory of ship collision avoidance was constructed by using a sigmoid function. Then, a real-time route tracking of ship motion was designed based on fuzzy adaptive control. The controller can estimate and compensate for the model parameter variation caused by the changes of ship’s inertia and outside disturbance, so as to guarantee the system robustness. The proposed path tracking controller can control the ship, tracking the ideal collision avoidance path rapidly to avoid collisions.
Path Tracking Control for Ship Collision Avoidance When Overtaking in Narrow Channel
Advs in Intelligent Syst., Computing
International Conference on Intelligent Computing, Communication & Devices ; 2019 ; Xi'an, China November 22, 2019 - November 24, 2019
Recent Developments in Intelligent Computing, Communication and Devices ; Chapter : 35 ; 241-248
2020-11-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
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