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Ship path following control based on improved integral line-of-sight guidance law
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Zaiyu DUAN1, Bing HAN1, 2, Yuhang CHEN1, 3, Yunhe LIN1
Navigation of China | 2025, 48(3) : 166 - 175
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Navigation of China | 2025, 48(3): 166-175
• Intelligent Shipping •
Ship path following control based on improved integral line-of-sight guidance law
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Zaiyu DUAN1, Bing HAN1, 2, Yuhang CHEN1, 3, Yunhe LIN1
Affiliations
  • 1.Intelligent Ship Research and Application Division, Shanghai Ship and Shipping Research Institute Co. Ltd., Shanghai 200135, China
  • 2.College of Physics & Electronic Information Engineering, Minjiang University, Fuzhou 350108, China
  • 3.Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China
Published: 2025-09-25 doi: 10.3969/j.issn.1000-4653.2025.03.020
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Addressing the requirements for ship’s autonomous navigation and high-precision path following control, this paper proposes a fuzzy control method with partitioned integral regions based on the Integral Line-of-Sight (ILOS) guidance law for path following control of autonomous navigation ships. Based on the established ship motion model, an extended Kalman filter is employed to estimate ship states such as speed and heading using GNSS measurement data. Fuzzy controllers are designed to dynamically adjust the look-ahead distance parameter according to different navigation conditions, thereby improving tracking performance. The 700 Twenty-foot Equivalent Unit (TEU) battery-powered container ship built by COSCO Shipping Group is taken as the plant for path following experiments on a simulation platform. Comparative analyses with results from different algorithms show that the proposed control algorithm achieves superior performance and smoother rudder angle manipulation. This method can provide reference for path following control of autonomous navigation ships.

path following  /  integral line-of-sight guidance law  /  fuzzy control  /  extended Kalman filter  /  ship motion model
Zaiyu DUAN, Bing HAN, Yuhang CHEN, Yunhe LIN. Ship path following control based on improved integral line-of-sight guidance law[J]. Navigation of China, 2025 , 48 (3) : 166 -175 . DOI: 10.3969/j.issn.1000-4653.2025.03.020
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Year 2025 volume 48 Issue 3
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Article Info
doi: 10.3969/j.issn.1000-4653.2025.03.020
  • Receive Date：2024-03-03
  • Online Date：2026-03-17
  • Published：2025-09-25
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  • Received：2024-03-03
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Affiliations
    1.Intelligent Ship Research and Application Division, Shanghai Ship and Shipping Research Institute Co. Ltd., Shanghai 200135, China
    2.College of Physics & Electronic Information Engineering, Minjiang University, Fuzhou 350108, China
    3.Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China
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红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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