COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

Zaccone, Raphael

doi:10.3390/jmse9040405

Cited by 28 publications

(11 citation statements)

References 33 publications

(44 reference statements)

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“…Raphael [40] used collision zone, COLREG application zone and free navigation zone in a concentric circle to define areas with different level of risk. Similarly, in this paper, the detection ranges are comprised of two circular areas, as shown in Figure 3, the smaller one around targeted ship is the safety domain with the assumption that ships are bound to collide within the range 0.5 nm.…”

Section: Detection Rangesmentioning

confidence: 99%

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

Zhou

Zhang

Wang

2021

JMSE

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Large ships are typically with large inertia and longtime delay in motion, in prevailing collision avoidance methods, their maneuverability is generally neglected, there could be a dangerous situation if the system fails to control the ship course as ordered in a timely manner. This paper proposes a coordination system which consists of two algorithms for avoiding risk and then returning to scheduled waypoint. The avoiding risk algorithm are based on VO (velocity obstacle) method, the returning algorithm is derived from LOS (light of sight) guidance. For better performance, the ship model for simulation is a nonlinear Norrbin Model, with the controller improved by CGSA (closed loop gain shaping algorithm) method from traditional PID control, COLREGS (Convention on the International Regulations for Preventing Collisions at Sea) constrains are considered. To test the effectiveness of the proposed system, a series of complex scenarios including Imazu problem are applied.

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Section: Detection Rangesmentioning

confidence: 99%

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

Zhou

Zhang

Wang

2021

JMSE

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“…In the existing works, the front end of the system usually plans the obstacle avoidance and planning on collision avoidance by considering of collision avoidance mission, while ignoring the performance of ship dynamics. In view of the maneuverability of ships, some scholars have studied the obstacle avoidance control methods based on considering COLREGs [31,32]. In the obstacle avoidance planning and collision avoidance decisionmaking of the front-end, existing methods usually only consider the collision avoidance mission but ignore the performance of ship dynamics.…”

Section: Related Workmentioning

confidence: 99%

A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control

Zhang

Wang

Chui

et al. 2021

Sensors

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Real-time collision-avoidance navigation of autonomous ships is required by many application scenarios, such as carriage of goods by sea, search, and rescue. The collision avoidance algorithm is the core of autonomous navigation for Maritime autonomous surface ships (MASS). In order to realize real-time and free-collision under the condition of multi-ship encounter in an uncertain environment, a real-time collision avoidance framework is proposed using B-spline and optimal decoupling control. This framework takes advantage to handle the uncertain environment with limited sensing MASS which plans dynamically feasible, highly reliable, and safe feasible collision avoidance. First, owing to the collision risk assessment, a B-spline-based collision avoidance trajectory search (BCATS) algorithm is proposed to generate free-collision trajectories effectively. Second, a waypoint-based collision avoidance trajectory optimization is proposed with the path-speed decoupling control. Two benefits, a reduction of control cost and an improvement in the smoothness of the collision avoidance trajectory, are delivered. Finally, we conducted an experiment using the Electronic Chart System (ECS). The results reveal the robustness and real-time collision avoidance trajectory planned by the proposed collision avoidance system.

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“…These laws are formulated by International Maritime Organization (IMO) in 1972 and named International Regulations for Preventing Collisions at Sea (COLREGs). This 1972 convention [4] It is a matter of fact that several studies on ship collision avoidance systems have considered the COLREGs rule in their algorithm [26,27] and several ignore these completely [13]. A system ignoring the COLREGs rules might successfully avoid ship collisions.…”

Section: Marine Traffic Rules and Regulationmentioning

confidence: 99%

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

Ahmed

Hannan

Oraby

et al. 2021

JMSE

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As the number of ships for marine transportation increases with the advancement of global trade, encountering multiple ships in marine traffic becomes common. This situation raises the risk of collision of the ships; hence, this paper proposes a novel Fuzzy-logic based intelligent conflict detection and resolution algorithm, where the collision courses and possible avoiding actions are analysed by considering ship motion dynamics and the input and output fuzzy membership functions are derived. As a conflict detection module, the Collision Risk (CR) is measured for each ship by using a scaled nondimensional Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) as inputs. Afterwards, the decisions for collision avoidance are made based on the calculated CR, encountering angle and relative angle of each ship measured from others. In this regard, the rules for the Fuzzy interface system are defined in accordance with the COLREGs, and the whole system is implemented on the MATLAB Simulink platform. In addition, to deal with the multiple ship encounters, the paper proposes a unique maximum-course and minimum-speed change approach for decision making, which has been found to be efficient to solve Imazu problems, and other complicated multiple-ship encounters.

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COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

Cited by 28 publications

References 33 publications

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

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

A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

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