Orientation Guidance and Control for Marine Vehicles in the Horizontal Plane

Abstract

A pure pursuit guidance law and a heading autopilot are coupled in order to provide path control of submersibles or surface ships in the horizontal plane. Proper design of the combined scheme allows for accurate path keeping during straight line motion. The simulation results are extended to cover cases of step changes in the desired path. The scheme provides a viable alternative to cross track error autopilots.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1991
Accession Number
ADA246042

Entities

People

  • Prouttichai Suwandee

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Automatic Pilots
  • Autonomous Underwater Vehicles
  • Classification
  • Computational Science
  • Computer Simulations
  • Coordinate Systems
  • Engineering
  • Equations
  • Equations Of Motion
  • Guidance
  • Mathematical Models
  • Mechanical Engineering
  • Navigation
  • Orientation (Direction)
  • Simulations
  • Underwater Vehicles
  • Vehicles

Readers

  • Marine Hydrodynamics
  • Robotics and Automation.