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In this paper, soft computing techniques applied to designing an autopilot enabling the control of the precise movement of a hydrographic ship in a horizontal plane along the desired trajectory have been considered. The reference trajectory is determined by particular way-points, and command signals are generated by independent fuzzy controllers. The minimization of the risk of deviating from the trajectory has been considered as a function of control quality in an environment with, and without, disturbances. With the aim of presenting the tests’ effectiveness and robustness, selected results of the executed simulation have been presented.

Modelling of the precise movement of a ship at slow speed to minimize the trajectory deviation risk