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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/36598

Title: Design and experiment of a small boat track-keeping autopilot
Authors: Lee;S.D.;C.H. Yu;K.Y. Shiu;Y.F. Hsieh;C.Y. Tzeng;Y.Z. Kehr
Contributors: NTOU:Department of Transportation Science
Date: 2010-02
Issue Date: 2015-05-19T06:32:02Z
Publisher: Ocean Engineering
Abstract: abstract:A real time kinematic (RTK), GPS-based, track-keeping control of a small boat is discussed in this paper. The internal model control (IMC) method is adopted in the autopilot design and the controller is recast in the PID controller format that is characterized by its simple structure and relative ease of implementation. The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the line-of-sight (LOS) guidance law. Path planning based on Bezier curves to achieve obstacle avoidance is investigated. First, computer simulations are carried out to find the feasible controller design parameter that achieves satisfactory simulation results. Then the feasible controller design parameter is applied in the small-boat-based experiments to demonstrate the practical use of the proposed autopilot design method.
Relation: 37(2-3), pp.207-217
URI: http://ntour.ntou.edu.tw/handle/987654321/36598
Appears in Collections:[運輸科學系] 期刊論文

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