Orientation guidance and control for marine vehicles in the horizontal plane
Papoulias, Fotis A.
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A pure pursuit guidance law and a heading autopilot are coupled in order to provide path control of submersibles or surface ships in the horizontal plane. Proper design of the combined scheme allows for accurate path keeping during straight line motion. The simulation results are extended to cover cases of step changes in the desired path. The scheme provides a viable alternative to cross track error autopilots.
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