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Open AccessArticle

Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves

by Anna Miller 1,*,† and Szymon Walczak 2,†
1
Gdynia Maritime University, ul. Morska 81-87, 81-225 Gdynia, Poland
2
Jan Kochanowski University in Kielce, ul. Uniwersytecka 7, 25-406 Kielce, Poland
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Symmetry 2020, 12(10), 1704; https://doi.org/10.3390/sym12101704
Received: 18 September 2020 / Revised: 6 October 2020 / Accepted: 13 October 2020 / Published: 16 October 2020
This work is devoted to the second order rational Bézier curve coefficients estimation. We present the methodology of unique coefficients for each type of ship computation. In the presented formulas of ship’s length, a draft and angular path combined with a drift path are used. This approach leads to the simplest and most accurate Maritime Autonomous Surface Ships (MASS) path modeling. Three rational curve control points are waypoints (WPT). Using WPTs as curve control points allows integrating a trajectory intuitive for the navigator with a path predicting model used as a reference in the control system. Research was done based on real-time data originating from the MASS autonomous trajectory tracking system. The presented mathematical modeling tool may be treated as the best way of future trajectory prediction due to low computation power required. View Full-Text
Keywords: MASS trajectory modeling; unique weight coefficients; rational bézier curve; curve control points MASS trajectory modeling; unique weight coefficients; rational bézier curve; curve control points
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Miller, A.; Walczak, S. Maritime Autonomous Surface Ship’s Path Approximation Using Bézier Curves. Symmetry 2020, 12, 1704.

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