AUXILIARY FUNCTION GRADIENT APPROACH TO MARINE VEHICLE PATH-FOLLOWING CONTROL

Autor:	Alexander A. Dyda, Ksenya N. Chumakova, Igor I. Pushkarev
Rok vydání:	2020
Předmět:	050210 logistics & transportation 020303 mechanical engineering & transports 0203 mechanical engineering 0502 economics and business 05 social sciences 02 engineering and technology General Medicine
Zdroj:	Russian Journal of Water Transport. :27-36
ISSN:	2713-1866 2713-1858
Popis:	This paper develops an approach to solving the problem of controlling the movement of a ship along a route. It is assumed that the route is specified using waypoints connected by line segments. The main idea of ​​the developed approach is to construct a set of auxiliary smooth functions having an extremum (maximum) on the corresponding sections of the route. The gradient vectors of the selected auxiliary functions are directed towards the corresponding section of the vessel's route. The sum of the vectors of the gradient of the auxiliary functions and the vector that specifies the direction on the selected section of the route determines the desired course of the vessel movement. It is shown that the chosen constructing algorithm for the desired vessel course ensures its output to the given trajectory.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::b18b1b2163e91e8cd828ae82d4d036cd https://doi.org/10.37890/jwt.vi65.125 Zobrazit plný text záznamu