| 摘要 |
PURPOSE:To conduct automatically a safe and economical vessel-steering by leading out in a short time the optimum steering angle to be used and a course-change starting point on the basis of relations with a steering angle and course-change angle computed previously and the position of a reaching point and a vessel-speed or the like at a time of changing a course to a vessel's target course. CONSTITUTION:Relations with a steering angle and a course-change angle psi at every predetermined angle respectively, the position of a reaching point R' against an origin O at a time of turning to a course on which a bow direction is decided on each course-change angle, and a vessel-speed or the like are previously computed. And among each reaching point thus computed, each reaching point corresponding to the course-change angle which decides a target course L is selected and a route to each reaching point R' selected from the present position of its own vessel as an origin is each approximated in an ellipse. And on the basis of the steering angle and a tolerable bias gamma corresponding to each reaching point, the position of each reaching point and each ellipse route, the optimum steering angle to be used and a course-change starting point are led out, on the basis of which vessel-steering is conducted. At this time, the optimum steering angle to be used and the course-change starting point are led out in a short time on the basis of relations with the steering angle and course-change angle previously computed and the position of the reaching point and the vessel-speed or the like. |
