| Issue |
MATEC Web Conf.
Volume 232, 2018
2018 2nd International Conference on Electronic Information Technology and Computer Engineering (EITCE 2018)
|
|
|---|---|---|
| Article Number | 02025 | |
| Number of page(s) | 5 | |
| Section | 3D Images Reconstruction and Virtual System | |
| DOI | https://doi.org/10.1051/matecconf/201823202025 | |
| Published online | 19 November 2018 | |
Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
College of Navigation, Jiangsu Maritime Institute, Nanjing 211170, China
* Corresponding author: wangrenqiang2009@126.com
In order to solve the problem of obstacle avoidance of ship in restricted waters, a type of path planning method for obstacle avoidance based on sigmoid function was designed. Firstly, with the concept of path planning, sigmoid function was used to construct the trajectory of ship movement for obstacle avoidance on the basis of analyzing the process of ship obstacle avoidance and the geometric features of sigmoid function. Then, the route tracking in real time was achieved by ship motion control system based on active disturbance rejection control. The simulation shows that ship can ensure avoid obstacle and that the route built based on sigmoid function in confined waters is effective.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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