@inproceedings{5fb029a835374475a0c26d3c95938d2e,
title = "Ship heading control for dubins path tracking and collision avoidance using model predictive control",
abstract = "Ships are one of the most important transportation and it cannot be separated from technological developments. The ship mission is to travel from the initial position to the target. While there is an obstacle in the trajectory which can cause collisions. Therefore, the ship requires a guidance system that produces trajectories to avoid any obstacles safely. In this paper, the Dubins method will be used to produce the path. This paper used model predictive control to control the ship's movement based on the guidance system which has provided. The ship's model is given by combined 2-DOF ship dynamic and kinematic model in the form of error w.r.t. the reference. There are four scenarios of trajectory which must be followed by the ship. Based on the computational result, MPC can control the ship to follow the trajectory in four scenarios. This can be seen from the RMSE of ship heading angle error and position error which average are 1.7 × 10−2 and 1.86 × 10−3 respectively.",
keywords = "Collision avoidance, Dubins path, Model predictive control, Ship heading control, Static obstacle, Trajectory tracking",
author = "Putri, {Dian Kusuma Rahma} and Subchan and Dieky Adzkiya and Tahiyatul Asfihani",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE; 2nd International Conference on Information and Communications Technology, ICOIACT 2019 ; Conference date: 24-07-2019 Through 25-07-2019",
year = "2019",
month = jul,
doi = "10.1109/ICOIACT46704.2019.8938455",
language = "English",
series = "2019 International Conference on Information and Communications Technology, ICOIACT 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "628--633",
booktitle = "2019 International Conference on Information and Communications Technology, ICOIACT 2019",
address = "United States",
}