The Design of Autopilot’s Ship Path Planning and Obstacle Avoidance Steering Control
Keywords:IPDA, FPDA, SMC, UAS-IPDA, CFAR, KALMAN FILTER, CUT, CACFAR
The design of ship steering control system involves many concentrations in the design algorithm because the dynamics of ships are not fixed and involved nonlinearities in the system. In addition, finding obstacle avoidance path is complicated that a ship must identify and bypass it with an automated decision-making system. In this Regard a robust data association-based path tracking system called integrated probabilistic data association (IPDA) algorithm has been applied for tracking the path of desired trajectory. The proposed algorithm initializes tracks for path planning and trajectory referencing using the sensor measurements. The track updates the trajectory state to obtain state estimate. The results are taken using MATLAB simulation.