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Publications
Xu, H.T. and Guedes Soares, C. (2020), Vector field guidance law for curved path following of an underactuated autonomous ship model , International Journal of Maritime Engineering, Vol. 162(A3), pp. A249-A261
Vector field guidance law and control system for the curved path following of an underactuated surface ship model are presented in this paper. In order to obtained the curved path with continuous derivatives, Piecewise cubic Hermite interpolation technology is applied for path generation based on the predefined way-points. A heading autopilot controller was designed based 2nd Nomoto’s model and its stability was guarantee by the Diagram of Vyshnegradsky technology. Vector Field guidance law was applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate its performance, the classical guidance law, line-of-sight, was also include in the program. Comparative studies are carried out and the results show that Vector Field is a good option to solve the guidance problem of underactuated surface ships.
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