Abstract
The authors of this paper make a noble attempt to devise a strategic avoidance mechanism from collision of two ships, during overtaking in a narrow channel using active disturbance rejection control tool designed on path planning and tracking method. Firstly, the trajectory of ship collision avoidance was constructed by using a sigmoid function. Then, a real-time route tracking of ship motion was designed based on fuzzy adaptive control. The controller can estimate and compensate for the model parameter variation caused by the changes of ship’s inertia and outside disturbance, so as to guarantee the system robustness. The proposed path tracking controller can control the ship, tracking the ideal collision avoidance path rapidly to avoid collisions.
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Acknowledgements
This work was supported by Natural Science Research Project of Universities in Jiangsu Province under Grant No. 19KJD580001, 19KJA150005 and 18KJB580003.
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Wang, R., Miao, K., Sun, J., Zhao, Y., Deng, H., Du, J. (2021). Path Tracking Control for Ship Collision Avoidance When Overtaking in Narrow Channel. In: WU, C.H., PATNAIK, S., POPENTIU VLÃDICESCU, F., NAKAMATSU, K. (eds) Recent Developments in Intelligent Computing, Communication and Devices. ICCD 2019. Advances in Intelligent Systems and Computing, vol 1185. Springer, Singapore. https://doi.org/10.1007/978-981-15-5887-0_35
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DOI: https://doi.org/10.1007/978-981-15-5887-0_35
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