自動航行に関する一考察

概要

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A fundamental study on the automatic navigation system is performed by means of computer simulation with a simplified model. There are three main functions in the system. The first is to determine the optimal ship's route. The next is the function to control and handle the ship along the route, and the last is to carry out a collision avoidance maneuver in case of necessity. In this paper ship's route is assumed to be given as a combination of straight lines, and algorisms and system design methods for the latter two functions are investigated. An auto-pilot designed as an optimal regulator for the ship and its situation shows satisfactory results in track keeping and course change. It is a feedback system of lateral deviation from the route, course angle error and rate of turn of the ship. Useful information for collision avoidance maneuver and collision avoidance system design is obtained through the simulation studies.
社団法人日本航海学会の論文
1985-09-20