Prototype of a remotely controlled model of a tugboat with an azimuth rudder and a hazard identification function

Abstract

The author’s approach, based on the technology of control actions, is proposed for the interface display of the algorithm for the operation of an automatic tugboat with an azimuth rudder and a hazard assessment function. To define the object as presumably dangerous, the article used the formulas of the direct and inverse navigation problems. To compare the coordinates of the vessel and the perceived “hazard”, one first needs to enter data, process the information, and display information that is understandable for the decision-maker. To eliminate the misunderstanding of this situation, the operation of the danger prevention algorithm was demonstrated using the visual basic programming language as an example. When constructing an algorithm for the safe movement of the vessel and the existing danger, each object, even a stand-alone one, has many coordinate points. Knowing the number of points of coordinates of the vessel and “danger”, they were taken as n and m, respectively. The algorithm searches for the optimal point-object. The scheme of interaction of the components of the automatic tug azimuth model (ABA) is proposed. It is based on a Raspberry Pi single-board computer with an Arduino Mega board connected to it. A program has been written to control the ABA model using omnidirectional wheels to simulate maneuvering on water.