Model Experiments on Manoeuvrability and Automatic Navigation on Settled Route in the Circulating Water Channel (First Report)

Abstract

At first, in order to obtain the manoeuvrability and response to wind, waves and oblique current, various experiments on a 1.3m self-propelled model of passenger ship were carried out in the circulating water channel. Utilizing these values, the optimal control system of this model, which reduces the following integral to a minimum, was analysed.
I=∫^t_t0 {γ₁ (Δη) ²+γ₂ (Δθ) ²+δ²} dt
where
Δη : trajectory error
Δθ : azimuth error
δ : helm angle
γ₁, γ₂ : coefficients
t : time
Moreover, the experiments of optimal automatic navigation on settled route with this ship model were performed by use of above calculated value in calm water, wind, waves and oblique current, in circulating water channel.