Time-optimal obstacle avoidance of autonomous ship based on nonlinear model predictive control

Zhang, Ming; Hao, Shuai; Wu, Defeng; Chen, Minglu; Yuan, Zhiming

doi:10.1016/j.oceaneng.2022.112591

Cited by 8 publications

(1 citation statement)

References 32 publications

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“…This information is then used to plan the optimal collision-avoidance route. Zhang et al represent a ship's time and path during collision avoidance using space reconstruction and describe the ship's nonlinear motion with the MMG model [109]. It combines Nonlinear Model Predictive Control (NMPC) with an Extended Kalman Filter to address the ship motion prediction problem during the collision avoidance process, demonstrating the timeliness and reliability of the algorithm through simulations.…”

Section: Short-term Ship-motion Predictionmentioning

confidence: 99%

A Review on Motion Prediction for Intelligent Ship Navigation

Zhang,

Chu,

Liu

et al. 2024

JMSE

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In recent years, as intelligent ship-navigation technology has advanced, the challenge of accurately modeling and predicting the dynamic environment and motion status of ships has emerged as a prominent area of research. In response to the diverse time scales required for the prediction of ship motion, various methods for modeling ship navigation environments, ship motion, and ship traffic flow have been explored and analyzed. Additionally, these motion-prediction methods are applied for motion control, collision-avoidance planning, and route optimization. Key issues are summarized regarding ship-motion prediction, including online modeling of motion models, real ship validation, and consistency in modeling, optimization, and control. Future technology trends are predicted in mechanism-data fusion modeling, large-scale model, multi-objective motion prediction, etc.

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Section: Short-term Ship-motion Predictionmentioning

confidence: 99%