Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water

Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water

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 obsta...

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Main Authors: Zhao Yue, Wang Renqiang, Sun Jianming, Liu Changhua, Li Jingdong, Chen Dawei
Format: Article
Language:English
Published: EDP Sciences 2018-01-01
Series:MATEC Web of Conferences
Online Access:https://doi.org/10.1051/matecconf/201823202025
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spelling doaj-220a0abc9c56426698a3da854778a52d2021-02-02T04:49:03ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-012320202510.1051/matecconf/201823202025matecconf_eitce2018_02025Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted WaterZhao YueWang RenqiangSun JianmingLiu ChanghuaLi JingdongChen DaweiIn 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.https://doi.org/10.1051/matecconf/201823202025
collection DOAJ
language English
format Article
sources DOAJ
author Zhao Yue
Wang Renqiang
Sun Jianming
Liu Changhua
Li Jingdong
Chen Dawei
spellingShingle Zhao Yue
Wang Renqiang
Sun Jianming
Liu Changhua
Li Jingdong
Chen Dawei
Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
MATEC Web of Conferences
author_facet Zhao Yue
Wang Renqiang
Sun Jianming
Liu Changhua
Li Jingdong
Chen Dawei
author_sort Zhao Yue
title Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
title_short Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
title_full Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
title_fullStr Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
title_full_unstemmed Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
title_sort sigmoid function based modelling and route tracking of obstacle avoidance for ship in restricted water
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2018-01-01
description 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.
url https://doi.org/10.1051/matecconf/201823202025
work_keys_str_mv AT zhaoyue sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
AT wangrenqiang sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
AT sunjianming sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
AT liuchanghua sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
AT lijingdong sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
AT chendawei sigmoidfunctionbasedmodellingandroutetrackingofobstacleavoidanceforshipinrestrictedwater
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