Dynamic target chasing: parameters and performance indicators assessment

This paper aims to present a systematic approach to evaluate the parameters affecting the vessel’s performances in the target tracking motion control scenario and, for this reason, three guidance laws have been formalised. Such scenario consists of reaching and following a target of which it is only possible to know the instantaneous position and velocity, hence when the future motion is unknown. The standard Line-Of-Sight, Pure Pursuit, and Constant Bearing have been modified and deeply tested. The target tracking scenario has been divided into two parts: the target approach and following strategies. The increase in system complexity needs advanced tools to predict the vehicle response in both standard and non-standard conditions. Simulation can support the designer’s effort for the transition from a traditional to an autonomous ship in the whole ship design; hence, all the guidance laws have been virtually tested and a sensitivity analysis is carried out to understand each parameter effect. Several manoeuvres have been performed and the results are shown to highlight benefits and drawbacks for each law. Eventually, key performance indicators are outlined and some suggestions are given to the proper settings of the guidance law parameters in the function of the specific mission.