文章基本信息

标题：Sigmoid Function based Modelling and Route Tracking of Obstacle avoidance for Ship in Restricted Water
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作者：Yue Zhao ; Renqiang Wang ; Jianming Sun 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：232
DOI：10.1051/matecconf/201823202025
语种：English
出版社：EDP Sciences
摘要：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.