摘要：This study presents an optimisation-based approach for determining controller gains in ship path-following under varying sea states,wave,and wind *** dynamic Line of Sight approach is used to regulate the rudder angle and guide the Esso Osaka ship along the desired *** are optimised using a genetic algorithm and a comprehensive cost *** analysis covers a range of wave attack directions and sea states to evaluate the controller *** demonstrate effective convergence to the desired path,although a steady-state error *** and rudder angle performance analyses show successful convergence and dynamic adjustments of the rudder angle to compensate for *** findings underscore the influence of wave and wind conditions on ship performance and highlight the need for precise gain *** research contributes insights into optimising and evaluating path-following controllers for ship navigation.