In the present work, a simulation model, integrating a path planning algorithm in the presence of obstacles with a track keeping controller, is developed. The path planning is based on a modified version of the Rapidly-exploring Random Tree (RRT*) algorithm. The track keeping is based on the Line-of-Sight (LOS) waypoints navigation for underactuated vessels. To achieve more reliable results, a detailed ship simulation model is used as a benchmark. Different scenarios and navigation modes are successfully tested, and the results are presented and analysed.

Simulation of the Guidance and Control Systems for Underactuated Vessels

Silvia Donnarumma;Massimo Figari;Michele Martelli;Raphael Zaccone
2020-01-01

Abstract

In the present work, a simulation model, integrating a path planning algorithm in the presence of obstacles with a track keeping controller, is developed. The path planning is based on a modified version of the Rapidly-exploring Random Tree (RRT*) algorithm. The track keeping is based on the Line-of-Sight (LOS) waypoints navigation for underactuated vessels. To achieve more reliable results, a detailed ship simulation model is used as a benchmark. Different scenarios and navigation modes are successfully tested, and the results are presented and analysed.
2020
978-3-030-43890-6
978-3-030-43889-0
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/1006023
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