The study demonstrates the algorithms for the work of a group of ABA models on the omnidirectional motion platform. The designed model of ABA is presented, which includes such components as the ship's hull, keel structure (KK) and propeller-driven propellers (VRK). The ABA model has been recreated through 3-D printing. Shown is the ABA movement algorithm tested using the written program code, as well as software (software) with a demonstration of the algorithms in the interface window.
pilotage of a vessel, automated mooring of a vessel, azimuth automatic tug, unmanned vessel
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