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Publicações
Xu, H.T. e Guedes Soares, C. (2016), “Waypoint-following for a marine surface ship model based on vector field guidance law”, Maritime Technology and Engineering 3, Guedes Soares, C. & Santos T. A., (Eds.), Taylor & Francis Group, London, UK, pp. 409-418
A vector field path following algorithm is developed for a surface ship model. A PID heading autopilot controller is developed based on the 2nd Nomoto’s model and the parameters of the model are identified using the least square support vector machine. The Diagram of Vyshnegradsky is used to derive the parameters of the controller. In order to minimize the cross-track errors and heading errors, a path generation is introduced to generate a smooth curved path based on a piecewise cubic Hermite interpolation. A vector field algorithm is used to guide the autonomous surface vehicles to follow the smooth path. The simulation tests are carried out and the results are compared with the traditional line of sight method. The vector filed guidance law can guide the vehicles to follow the predefined the smoothed path with a small cross track error and heading errors with minimum control efforts. The vector field is a practical and robust method for autonomous surface vehicles guidance.
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