Temat: waypoint - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Waypoint path controller for ships
Autorzy:: Tomera, M.
Alfuth, Ł.
Powiązania:: https://bibliotekanauki.pl/articles/117436.pdf
Data publikacji:: 2020
Wydawca:: Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:: control system
waypoint
waypoint path controller
silm lake
ship handling research and training centre at Ilawa
Polska
blue lady
control algorithm
ship motion control
Opis:: The paper presents and discusses tests of a waypoint controller used to sail a ship along the desired route. The planned desired route for the moving ship is given as a set of waypoints connected with straight lines. The ship's control is based on the rudder blade deflection angle as a commanded parameter. The task of the controller is to determine the rudder angle which will allow the ship to sail along the desired route segment. The controller algorithm consists of two parts, the first of which is used for controlling the ship motion along linear segments of the desired route, while the second part is used when changing to the next route segment. A switching mechanism is designed to choose the relevant part of the control algorithm. The quality of operation of the ship motion control algorithm was tested on the training ship Blue Lady, at the Ship Handling Research and Training Centre located on the lake Silm at Kamionka near Iława, Poland.
Źródło:: TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 2; 375-383
2083-6473
2083-6481
Pojawia się w:: TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Planning the Waypoint - Following Task for a Unicycle - Like Robot in Cluttered Environments
Autorzy:: Gawron, T.
Michalek, M. M.
Powiązania:: https://bibliotekanauki.pl/articles/384869.pdf
Data publikacji:: 2015
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: VFO control
waypoint-following
unicyclelike robot
combinatorial search
controller-driven motion planning
Opis:: The paper presents a two-stage, global planning algorithm for the waypoint-following task realized by a unicycle-like robot in a clutiered environment. It assumes motion execution with the VFO (Vector Field Orientation) controller. The planner is a result of a controllerdriven design process and exploits particular properties of the VFO controller. Emphasis has been put on the plan safety in the sense of maximizing the distance from the obstacles. In the first stage of planning, an A*-like pathfinding algorithm is used to find a safe geometric plan (i.e. a polyline) in a two-dimensional occupancy grid. During the second stage, a sequence of waypoint posi tions is selected from the geometric plan and reference orientations at the waypoints are planned. Orienta tion planning exploits properties of the VFO controller used for subsequent motion execution. Proposed twostage algorithm admits changes of robot motion strategy (forward/backward movement) and has lower computational cost than the full configuration space search. Performance of the algorithm can be intuitively tuned with provided design parameters.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 1; 77-90
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: A ship manoeuvring desktop simulator for developing and validating automatic control algorithms
Autorzy:: He, H.
Lataire, E.
Zwijnsvoorde, T. V.
Powiązania:: https://bibliotekanauki.pl/articles/24201421.pdf
Data publikacji:: 2023
Wydawca:: Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:: automatic control
optimal tracking algorithms
manoeuvring simulator
anti-collision maneuvering
autonomous ship controller
model predictive control
waypoint path controller
authonomy of ships
Opis:: This paper presents a user‐friendly simulator developed based on Windows Forms and deployed as a test bed for validating automatic control algorithms. The effectiveness of some of the integrated track controllers has been tested with free running experiments carried out in the Towing Tank for Manoeuvres in Shallow Water in Ostend, Belgium. The controllers enable a ship to follow predefined random paths with high accuracy. Ship‐to‐ship interaction is considered in some cases. Simulator environments provide useful tools for extending the number of validation scenarios, supplementing the work performed in the towing tank. The simulator is presented with a graphical user interface, aiming at providing a good user experience, numerous test scenarios and an extensively‐validated library of automatic control algorithms. With the usage of the simulator, further evaluation of developed control algorithms by implementing extensive test runs with different ships and waterways could be made. Case studies are shown to illustrate the functionality of the simulator.
Źródło:: TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 3; 607--616
2083-6473
2083-6481
Pojawia się w:: TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:: Biblioteka Nauki

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