Path Following of Underactuated Catamaran Surface Vessel (WAM-V) Using Fuzzy Waypoint Guidance Algorithm

  • Jyotsna PandeyEmail author
  • Kazuhiko Hasegawa
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 16)


In this paper, a waypoint tracking algorithm is developed for dealing with catamaran type of vessel called Wave Adaptive Modular Vessel (WAM-V) and this paper further proposes a PID differential thrust control of a manoeuvring WAM-V. This control design greatly simplifies the control design process and easily applied to underactuated twin hull and twin propeller vessels such as WAM-V. The WAM-V is controlled by differential thrust for surge and yaw motion control; is an underactuated vehicle. The fuzzy control rules are constructed based on the human operator’s experience. The nomotos model derived from MMG mathematical model is developed to represent the WAM-V dynamics. The model and control algorithm are simulated using MATLAB and results are presented. The suggested fuzzy waypoint guidance control algorithm has shown good performance in terms of accuracy to track the waypoints.


Fuzzy waypoint algorithm Underactuated control Differential thrust control’ WAM-V Intelligence guidance and marine robotics 


  1. 1.
    Maritime Advanced Research Inc. Wave Adaptive Multipurpose Vessel.
  2. 2.
    Hasegawa, K., Kouzuki, A., Muramatsu, T., Komine, H., Watabe, Y.: Ship auto-navigation fuzzy expert system (SAFES). J. Soc. Naval Architects Jpn. 2, 445–452 (1989)CrossRefGoogle Scholar
  3. 3.
    Hasegawa, K.: Knowledge-based automatic navigation system for harbour manoeuvring. In: 10th Ship Control Systems Symposium, vol. 2, pp. 67–87, 25–29 October 1993Google Scholar
  4. 4.
    Hasegawa, K.: Ship auto navigation system, in fuzzy computer/Fuzzy Expert System System, (in Japanese, ed. K. Hirota), Ticeps, Tokyo, 135-19 (1988)Google Scholar
  5. 5.
    Beard, R.W., Maclain, T.W.: Small Unmanned Aircraft Theory and Practice. Princeton University Press, Princeton (2012)Google Scholar
  6. 6.
    Oh, S.R., Sun, J.: Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Eng. 37(2), 289–295 (2010). ElsevierCrossRefGoogle Scholar
  7. 7.
    Cheng, J., Yi, J.: A new fuzzy Autopilot for way-point tracking control of ships. In: IEEE International Conference on Fuzzy Systems, Canada (2006)Google Scholar
  8. 8.
    Jia, B., Cao, H., Ma, J.: Design and stability analysis of fuzzy switched PID controller for ship track keeping. J. Transp. Technol. 2, 334–338 (2012)CrossRefGoogle Scholar
  9. 9.
    Sanjay, N., Jain, A., Hariprasad, S.A.: Performance analysis of ship tracking using PID/Fuzzy controller. Int. J. Comput. Trends Technol. (IJCTT) 6, 1858–1861 (2013)Google Scholar
  10. 10.
    Lee, S.M., Knon, K.Y., Joh, J.: A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREG guidelines. Int. J. Control Autom. Syst. 2(2), 171–181 (2004)Google Scholar
  11. 11.
    Kose, K., Yumuro, A., Yoshimura, Y.: Concrete of mathematical model for ship manoeuverability. In: 3rd Symposium on Ship Manoeuverability, SNAJ (in Japanese), pp. 27–80 (1981)Google Scholar
  12. 12.
    Yoshimura, Y.: Mathematical Model for Manoeuvring Ship Motion (MMG Model). Workshop on Mathematical Models for Operations involving Ship-Ship Interaction, Tokyo, Japan (2005)Google Scholar
  13. 13.
    Pandey, J., Hasegawa, K.: Study on manoeuverability and control of an autonomous wave adaptive modular vessel (WAM-V) for ocean observation. In: IEEE, International Association of Institutes of Navigation (IAIN) World Congress, Prague, Czech Republic (2015)Google Scholar
  14. 14.
    Nomoto, K.: Ship maneuverability (in Japanese). In: Text of the 1st Symposium on the Ship Maneuverability, SNAJ (1964)Google Scholar
  15. 15.
    Pereira, A., Das, J., Sukhatme, G.S.: An experiment study of station keeping on an underactuated ASV. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3164–3171, Acropolis Convention Center, Nice, France, 22–26 September 2008Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Department of Naval Architecture and Ocean EngineeringOsaka UniversitySuitaJapan

Personalised recommendations