Publicações

Xu, H.T. e Guedes Soares, C. (2015), “An optimized path following algorithm for a surface ship model”, Guedes Soares, C. Dejhalla R. and Pavletiæ D., (Eds.), Towards Green Marine Technology and Transport, Taylor & Francis Group, London, UK, pp. 151-158

This paper presents an optimized path following algorithm used for way-points tracking of a surface ship. The Nomoto’s model is used for the autopilot design and the parameters are obtained by using the least-square support vector regression. A PID heading autopilot controller is developed. A practical path following algorithm based on the pure pursuit and line of sight guidance law is introduced considering to minimize the total cross-track errors and total control effort. This algorithm is a combination of the pure pursuit and LOS with different gain. The optimal weighted factor is obtained using the Genetic algorithm. The simulation studies are carried out to demonstrate the performance of the proposed algorithm. The presented approach is an effective and practical guidance law for autonomous surface vehicles.

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