A Systematic Pipelaying Control Method Based on the Sliding Matrix for Dynamically Positioned Surface Vessels

Table 3

The waypoint table of the pipelaying operation.

No.	(m)	(m)	Crab angle (degree)	Speed (m/s)	Turn radius (m)
1	0	0	0	2	0
2	1000	1000	0	2	300
3	1000	2000	0	2	300
4	200	2600	0	2	300
5	500	4000	0	2	300
6	1500	4100	0	2	0