Patent ID: 9213336
Filing Date: 2015-12-15
Classification: B63B,B63J,G05D

Abstract:
1. A computer implemented method for guiding and controlling a trajectory of an under-actuated vessel, the method comprising: a) expressing a predetermined vessel trajectory as a set of straight line segments; b) determining a desired current line segment [A c) determining a current position of the vessel; d) determining a cross-track error d and a time derivative of the cross-track error; e) calculating radius R of a line-of-sight (LOS) circle using formulae: wherein lambertw is the inverse of f(x)=xe x ; and R min is a minimum radius; f) determining intersection points M and N between the LOS circle and the current desired line segment [A g) determining a desired heading angle to be the angle between line ON and a fixed reference line; and h) inputting the desired heading angle to a vessel's heading controller.