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 × 102 and 1.86 × 103 respectively.

Original languageEnglish
Title of host publication2019 International Conference on Information and Communications Technology, ICOIACT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages628-633
Number of pages6
ISBN (Electronic)9781728116556
DOIs
Publication statusPublished - Jul 2019
Event2nd International Conference on Information and Communications Technology, ICOIACT 2019 - Yogyakarta, Indonesia
Duration: 24 Jul 201925 Jul 2019

Publication series

Name2019 International Conference on Information and Communications Technology, ICOIACT 2019

Conference

Conference2nd International Conference on Information and Communications Technology, ICOIACT 2019
Country/TerritoryIndonesia
CityYogyakarta
Period24/07/1925/07/19

Keywords

  • Collision avoidance
  • Dubins path
  • Model predictive control
  • Ship heading control
  • Static obstacle
  • Trajectory tracking

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