Abstract
This research presents an analysis of algorithm for ship track-keeping along a given trajectory. The maneuver of a free running model ship guiding through a simple path are presented. In order to solve the above problem, a desired trajectory is usually determided by GPS points in a pre-fixed place then these points are set in a pre-programmed navigation so that the ship would be automatically tracked. Proportional-Derivative(PD) control which is useful for fast response controllers was used in this program as a course keeping system. A high accuracy GPS receiver was installed on the model ship that could provide positions frequently, the system will compare and give out the remaining distance and heading to the target way-point. The results of ship auto track-keeping experiment will be explained in order to illustrate the adjustment in controlling parameters. These results can be utilized as a preliminary step to carry out the experiment of ship collision avoidance system and automatic berthing in the future.
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