In order to achieve dynamic adaptive maneuvering decision-making in the inland cruise ship lockage,ship maneuvere motion model under the interference of wind and current is built,which realize the ships orientation and change at different speeds combing the adaptive optimal navigation control method.Based on good seamanship,the target speeds at key points during the lock traversing process were set,and a speed control method based on binary search algorithm was proposed to achieve variable speed control.A feasible course acquisition method was established and a dynamic adaptive control method based on model predic-tion and feedback compensation was used to correct the remaining errors.In the framework of adaptive decision-making,the speed control,heading control methods and the proposed maneuvering decision-making method were combined.In the set experimental scenarios,the maximum trajectory deviation during lock entry was 26.72 m and the minimum was 0.22 m;the maximum trajec-tory deviation during lock exit was 28.60 m and the minimum was 0.20 m.The results show that:the ship can accurately control the trajectory along the recommended route,which can provide theoretical basis and technical support for the research of autono-mous navigation of ships in the lock area.
cruise ships lockagespeed and course controlmodel predictionadaptive maneuvering decision-making
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