2021 International Telecommunications Conference (ITC-Egypt) | 2021
Design of Autonomous Ship Heading Controller considering Ship Movement Effects on Object(S) Detection
Abstract
The main objective of the current work is to increase onboard sensor efficiency through the selection/optimization of the ship steering control system or the adjustment of sensor parameters. Three control approaches are considered, The Linear quadratic regulator LQR, the linear-quadratic Gaussian LQG, and the Proportional Integral Derivative PID. To evaluate the performance of the previously mentioned methods a sensor simulation algorithm was created and linked to the Nomoto ship mathematical model. The general idea of the algorithm is the use of (line to plane, line to cylinder, line to sphere, line to triangle) intersection algorithm in three dimensions. In the current work, a new technique for evaluating system performance from the point of view of sensor efficiency is introduced. The results showed that the proposed LQG is the most suitable technique for the current ship.