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)
382
Figure 7. Example of ship path obtained in experimental test
performed on the lake Silm in Ilawa/Kamionka
Comparing these two paths reveals large cross-
track errors of ship position after the ship passes
consecutive waypoints.
The time-history of the cross-track error, shown in
Fig. 8, reveals some undamped oscillations.
Figure 8. Time-history of cross-track error recorded during
the experimental test shown in Figure 7.
7 REMARKS AND CONCLUSIONS
The developed waypoint controller fulfills its task,
which consists in steering a ship along the desired
route. Unfortunately, there is no good cooperation
between the two parts of the designed path controller,
as can be observed in the cross-track error time-
history revealing relatively large oscillations.
Further work on this path controller design will
aim to eliminate oscillations of the cross-track error
and to reduce its value. In particular, it will aim at
refining the conditions at which the PI part of the
algorithm is switched on, as this algorithm
component is responsible for minimizing the cross-
track error from the desired route segment.
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