Autonomous ship collision free trajectory navigation and control algorithm

Hong, X., Harris, C.J. and Wilson, P.A. (1999) Autonomous ship collision free trajectory navigation and control algorithm. In 1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99. vol. 2, IEEE. pp. 923-929 . (doi:10.1109/ETFA.1999.813090).

Abstract

A new autonomous ship collision free (ASCF) trajectory navigation and control system has been introduced with a new recursive navigation algorithm based on analytic geometry and convex set theory for ship collision free guidance. The underlying assumption is that the geometric information of ship environment is available in the form of a polygon shaped free space, which may be easily generated from an 2-D image or plots relating to physical hazards or other constraints like collision avoidance regulations. The navigation command is given as a heading command sequence based on generating a waypoint which falls within a small neighborhood of the current position, and the sequence of the waypoints along the trajectory are guaranteed to lie within a bounded obstacle free region using convex set theory. A neurofuzzy network predictor which inpractice uses only observed input/output data generated by on board sensors or external sensors (or a sensor fusion algorithm), based on using rudder deflection angle for the control of ship heading angle, is utilised on the simulation of an ESSO 190000dwt tanker model to demonstrate the effectiveness of the system.

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Contributors

Author: P.A. Wilson

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