| CPC B63H 25/04 (2013.01) [B63H 25/42 (2013.01); G05D 1/0206 (2013.01); B63H 2025/045 (2013.01)] | 15 Claims |
|
1. A control target generation device that generates a control target for controlling a location and an orientation of a ship in accordance with a route, wherein
the route includes a plurality of control points,
each of the control points has information about a target location and a target orientation of the ship,
the route includes a plurality of partial routes that sequentially connects the target locations of the control points, and
the control target generation device comprises:
a transit target point generating unit that is capable of generating, as the control target in a middle part of the partial route, a transit target point having information about the target location and the target orientation of the ship; and
an arrival determining unit that determines whether the ship has arrived at the transit target point based on a current location and a current orientation of the ship,
in a case where the arrival determining unit determines that the current location of the ship precedes the target location of the transit target point in the partial route, the transit target point generating unit updates the transit target point under a condition that a difference between a current orientation of the ship and the target orientation of the transit target point falls within a predetermined range,
wherein the transit target point generating unit updates the transit target point when the arrival determining unit determines that the ship has arrived at the transit target point, and
when the transit target point is updated, the target location and the target orientation of the transit target point are changed to less than a first threshold from the target location and the target location of the control point at an end point of the partial route.
|