Simulation of ship maneuvering using the plane motion model

Present study employs a free-body diagram to establish motion equations and uses a Runge-kutta-method to solve the differential equations and investigate straight line motion, turning and zigzag motions. During linear motion, a ship's velocity is affected by both resistive and propulsive forces. During turning motion, the turning radius decreases with an increase in the rudder angle, and the water flowing along the hull and into contact with the rudder is accelerated to facilitate turning. During zigzag motion, the initial turning time, the time to check yaw and the overshoot are explored for switching between different positive and negative rudder angles.