Automatic track keeping to realize the realistic operation of a ship

Research output: Contribution to journalArticle

Abstract

This paper introduces an automatic track keeping algorithm consisted of two systems, which are a waypoints switching system and a rudder control system. Fuzzy inference based on human manipulation experiences is applied to the both system to realize the actual ship operation. In the waypoints switching system, a course change angle is reflected as input data to find out optimal point at where rudder is used. The obtained optimal point allows the ship to follow a route accurately without overshoots such as cross track error and heading error. Heading error, cross track error and difference between current yaw rate and desired yaw rate are considered to control rudder appropriately. The desired yaw rate is derived using the heading error and the cross track error, and suitable rudder angle is inferred by comparing current yaw rate with the desired yaw rate. Numerical simulations were carried out to verify the effectiveness of the proposed algorithm. Instead of evaluating the algorithm under virtual environment with geometrical route and assumed external disturbance, scenarios for simulations were created by utilizing route plans used in actual operations. Actual conditions of wind and current at sea were applied to prove capability in the real world situation. It was observed by the simulation results that a ship traveled on a pre-planned path defined in a route plan and overshoots hardly occurred. It can be said that the algorithm has sufficient performance for ship track keeping.

Original languageEnglish
Pages (from-to)172-182
Number of pages11
JournalInternational Journal of Fuzzy Logic and Intelligent Systems
Volume19
Issue number3
DOIs
Publication statusPublished - Jan 1 2019

Fingerprint

Ship
Ships
Switching Systems
Switching systems
Overshoot
Angle
Fuzzy Inference
Fuzzy inference
Virtual Environments
Virtual reality
Manipulation
Simulation
Disturbance
Control System
Sufficient
Verify
Control systems
Numerical Simulation
Scenarios
Path

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Logic
  • Computer Science Applications
  • Computational Theory and Mathematics
  • Artificial Intelligence

Cite this

Automatic track keeping to realize the realistic operation of a ship. / Choe, Bora; Furukawa, Yoshitaka.

In: International Journal of Fuzzy Logic and Intelligent Systems, Vol. 19, No. 3, 01.01.2019, p. 172-182.

Research output: Contribution to journalArticle

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