Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles

Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Model in the Presence of Static Obstacles

A modified path-following control system using the vector field method for an underactuated autonomous surface ship model is proposed in the presence of static obstacles. With this integrated system, autonomous ships are capable of following the predefined path, while avoiding the obstacles automati...

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Bibliographic Details
Main Authors: Haitong Xu, Miguel A. Hinostroza, C. Guedes Soares
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Journal of Marine Science and Engineering
Subjects:
path-following
vector field
obstacle avoidance
velocity obstacle algorithm
nonlinear autopilot
underactuated surface ship model
Online Access:https://www.mdpi.com/2077-1312/9/6/652

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