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Tytuł artykułu

Global and local planning of ship route using MATLAB and Simulink

Autorzy
Treść / Zawartość
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Języki publikacji
EN
Abstrakty
EN
This article considers a new method of decomposing the ship route into global and local planning using MATLAB and Simulink developed by the authors. The authors propose to create a program code in MATLAB and operate it into Simulink. Wherein, the corrective coefficients were written in MATLAB. Such trajectories are constructed as a set of points, collected into the special matrix. In determining of the angle value of the rudder was used the ship’s turning ability such as: high (HG), middle (MD) or low (LW) with regard to passage area. Moreover, in the article were analyzed and calculated the ship rudder effectiveness for Proportional-Integral-Derivative (PID) control. The paper is devoted to the problem of safety navigation. First of all is the task of planning the path: the trajectory of the vessel’s movement in the local water area. The purpose of planning the vessel trajectory in the local water area is to ensure navigation safety due to marine traffic and environmental conditions. One of the tasks of the present work is controlling following a desired trajectory. The article notes affect of the vessel motion deviation into control process.
Twórcy
autor
  • Odesa National Maritime University, Odessa, Ukraine
autor
  • Gdynia Maritime University, Gdynia, Poland
Bibliografia
  • [1] J. van Amerongen, and H. R. V. Nauta Lemke, “Recent development in automatic steering of ships”. Journal of Navigation, vol. 39, no. 3, pp. 349‐362, 1986.
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  • [11] O. Kupraty, “Mathematical modeling trajectory of a ship as a control object in global planning”. Transport development, vol. 1, no. 6, pp. 40‐55, 2020.
  • [12] O. Kupraty, “Mathematical modeling of the trajectory of a ship as a control object in local planning”. In Proc. MATEC Web of Conferences, vol. 339, 01015, pp. 1‐13, 2021.
  • [13] O. Kupraty, “Implementation of the algorithm for calculation course (bearing) on rhumb line and constructing the trajectory of the ship’s turning circle in the MATLAB programming environment”. The scientific heritage No 60(2021), pp. 40‐45, 2021.
  • [14] O. Kupraty, “Mathematical modelling of construction of ship turning trajectory using autonomous bow thruster work and research of bow thruster control specifics”. Scientific Journal of Gdynia Maritime University, no. 118, pp. 7‐23, 2021.
  • [15] A. Lazarowska, “Trajectory base method for ship’s safe path planning”. Procedia Computer Science, vol. 96, pp. 1022–1031, 2016. 215.
  • [16] J. Lisowski, “Analysis of methods of determining the safe ship trajectory”. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, vol. 10, no. 2, pp. 223‐228, 2016.
  • [17] A. Shakhov, and O. Kupraty, “Basic project of autonomous main engine control and it implementation in C# (C sharp) environment”. In Proc. IEEE 16th International Conference on Computer Sciences and Information Technologies (CSIT), 2021, pp. 319‐322.
  • [18] W. Ślączka, and J. Guziewicz, ”Methods of determining the maneuvering area of a ship used in simulation tests”, in International Scientific and Technical Conference on Sea Traffic Engineering, M. Jurdziński, J. Sitarz (Eds.), Szczecin: Wyższa Szkoła Morska, 1997, pp. 125‐142. (in Polish).
  • [19] R. Śmierzchalski, and A. Łebkowski. “Moving objects in the problem of path planning by evolutionary computation”. in Neural Networks and Soft Computing, L. Rutkowski, J. Kacprzyk, Eds. Berlin Heidelberg: Springer‐Verlag, 2002, pp. 382‐386.
  • [20] M. Tomera, Switching‐Based Multi‐Operational Control of Ship Motion. Warsaw: EXIT, 2018.
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  • [23] E. I. Wieriemiej, Sriednie kwadraticznaja mnogocielewaja optimizacija: uczeb. posobije, SPb, St. Petersburg, 2016. (in Russian).
Uwagi
Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-1916fa8c-9784-4098-8bd1-f7017b4cec53
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