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Course-keeping and Turning Controllers for Ships

Leszek Morawski;Janusz Pomirski;Andrzej Rak

  Introduction The route of a ship is usually specified as a sequence of way-points. Cartesian coordinates of way-points define the desired broken line which the ship should follow as close as possible. When the ship is sailing in an open ocean a precise passing a way-point is not required. The ship is only expected to gently change the course from one straight segment to another while passing the way-points. Therefore conventional guidance system has two main operations modes: course-keeping mode at straight trajectory……   
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