A RTK (real time kinematic), GPS (Global Positioning System)-based, track-keeping control of a small boat is discussed in this paper. The IMC (internal model control) method is adopted in the autopilot design and the controller is recast in the PID (proportional integral differencial)controller format that is characterized by its simple structure and relative ease of implementation. The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the LOS (line-of-sight) guidance law. Path planning based on Bezier curves to achieve obstacle avoidance is investigated. First, computer simulations are carried out to find the feasible controller design parameter that achieves satisfactory simulation results. Then the feasible controller design parameter is applied in the small-boat-based experiments to demonstrate the practical use of the proposed autopilot design method.
Design and experiment of a small boat track-keeping autopilot
Entwurf und Erpobung eines den Kurs einhaltenden Autopiloten für ein kleines Boot
Ocean Engineering ; 37 , 2-3 ; 208-217
2010
10 Seiten, 11 Quellen
Article (Journal)
English
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