A Real-Time Collision Avoidance System for Autonomous Surface Vessel Using Fuzzy Logic

Abstract

Numerous researches have been done to develop ASV (Autonomous Surface Vessel) collision avoidance systems. Most of the systems used static methods but did not apply a knowledge base where solutions can be reused and adapted to solve a new case. In this paper, an algorithm of autonomous collision avoidance is proposed considering steering dynamic for ASV. The process of this learning method is to recall the FCBR (Fuzzy Case Base Reasoning) containing basic expert knowledge in the form of stored cases. The solutions will be retrieved from the knowledge base to find a NH (New Heading) command for collision avoidance. Moreover, to execute the NH, a design of adaptive fuzzy ASV heading control system based on command filter is conducted considering the input saturation constraints and external disturbances. T-S fuzzy logic is employed to approximate nonlinear uncertainties existing in the heading control system adopting the MLP (Minimal Learning Parameter) technique. Finally, simulations prove that the method is effective to retrieve the past similar cases for the new collision avoidance situation and give its solution for ASV to track adjusted heading.

A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships

“…Researches [4][5][6] generally applied the ship motion models to simulate the real motion, while the decision and the control part are essentially separated, the maneuverability are ignored. The large inertia and the time lag still have an impact on autonomous navigation.…”

“…The large angle crossing situation problem is eliminated. The rudder turning are improved according to the collision rule constrains, with only 5 cases (6,12,14,18,20) turning to left. Our analysis is that the targeted ship is on the right side and too close to the own ship (e.g., in case 6, 12, 14, the initial targeted ship is in less than 1 nm, in case 18 and 20 the nearest targeted ship is in less than 2 nm).…”

Unmanned Surface Vehicle Collision Avoidance Path Planning in Restricted Waters Using Multi-Objective Optimisation Complying with COLREGs

“…In the past few years, USV collision avoidance path planning has attracted extensive attention from both the academia and industry, and the algorithms can be generally classified into two categories. One is to treat USVs as autonomous mobile robots and use model-driven or data-driven approaches for path planning, such as artificial potential fields [ 7 , 8 ], fuzzy logic [ 9 , 10 ] and the velocity obstacle method [ 11 ]. These strategies could be very useful in dynamic situations in open water areas for obstacle avoidance, as USVs are only seen as agile robotic systems without marine navigation restrictions.…”

Fuzzy Risk Evaluation and Collision Avoidance Control of Unmanned Surface Vessels

“…To the best knowledge of the authors, there are limited studies that consider nonlinear dynamic information of ships or that integrate collision avoidance algorithms with a nonlinear controller. Korean researchers, in June 2020, proposed a method that integrates a collision avoidance methodology with a simplified nonlinear ship model-the Noorbin mathematic model: T .. r + r + αr 3 = Kδ, where δ is the rudder angle, r is the angular deflection rate, and T, K, and α are parameters of ship dynamics [10]. Although the simplified nonlinear ship model was used, this paper is still a rare example to be applied in the collision avoidance design of ships.…”