Abstract
This work is devoted to the second order rational Bézier curve coefficients estimation. We present the methodology of unique coefficients for each type of ship computation. In the presented formulas of ship’s length, a draft and angular path combined with a drift path are used. This approach leads to the simplest and most accurate Maritime Autonomous Surface Ships (MASS) path modeling. Three rational curve control points are waypoints (WPT). Using WPTs as curve control points allows integrating a trajectory intuitive for the navigator with a path predicting model used as a reference in the control system. Research was done based on real-time data originating from the MASS autonomous trajectory tracking system. The presented mathematical modeling tool may be treated as the best way of future trajectory prediction due to low computation power required.
Highlights
Maritime Autonomous Surface Ships (MASS) need information about their future path, especially during safe trajectory determination and model-based control application
We propose rational Bézier curve parametrization based on particular ship parameters in order to generate reference which may be directly followed by specific MASS
For the Very Large Crude Carrier (VLCC) “Blue Lady”, we referred to the papers of Rybczak and Tomera [20,21,22], where trajectory tracking performance was described in a very detailed way
Summary
Maritime Autonomous Surface Ships (MASS) need information about their future path, especially during safe trajectory determination and model-based control application. The problem of trajectory modeling and prediction is not trivial. In order to get a feasible path, one needs to take into account the controlled object dynamics. During trajectory estimation physical constraints of an autonomous ship have to be satisfied. They determine the minimum curvature radius, tangent acceleration and all three velocities (longitudinal, transversal and angular). The generated trajectory needs to be smooth and in the case of the ship her velocities along all three axes need to be constant
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