Abstract
This paper discusses the design of an autopilot for inland ships. The autopilot makes use of adaptive strategies which can be implemented in inexpensive microcomputers. As the paper makes clear, both the adaptive features and the possibility to implement these in inexpensive hardware are essential for realizing an acceptably priced autopilot. As an example of these, the adaptive controller of the ship's hydraulic steering machine is described. This controller computes on-off signals for the relays which control two hydraulic valves. For the realization of the autopilot an 8-bit microprocessor system is chosen which can be programmed in a high-level language. The reasons for selecting this system are given along with some properties of the system, which have to be taken into consideration in the software design process. The results of simulation and of full-scale trials are described.
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