"详尽研究欠驱动船路径跟踪的LOS算法"
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The thesis titled "Nonlinear Maneuvering Control of Underactuated Ships" explores the development of a Line-of-Sight (LOS) algorithm for controlling the path tracking of underactuated ships. This doctoral dissertation, authored by Morten Breivik in June 2003, provides a detailed examination of the algorithm along with accompanying code in the appendix. The research has garnered 49 citations and has been read over 6,010 times on ResearchGate. The LOS algorithm presented in the thesis is specifically designed for underactuated ships, which are vessels with fewer control inputs than degrees of freedom. This presents a challenge in terms of accurately controlling the ship's trajectory and path tracking. By developing a sophisticated LOS algorithm, the thesis aims to address this issue and enhance the maneuvering control of underactuated ships. The research conducted by Breivik is highly relevant for studies related to path tracking in both ship and vehicle navigation. The detailed analysis and accompanying code in the appendix make it a valuable resource for researchers and professionals in the field. The author, who is also involved in projects related to automatic and autonomous docking for marine vessels, as well as autonomous all-electric passenger ferries for urban water transport, brings a wealth of expertise and experience to this research. In conclusion, the thesis on the nonlinear maneuvering control of underactuated ships, specifically focusing on the LOS algorithm for path tracking, is a significant contribution to the field of maritime navigation and control systems. With its detailed analysis, code implementation, and practical applications, this research holds immense value for researchers, scholars, and practitioners in the domain of ship and vehicle navigation.
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