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Autonomous ship collision free trajectory navigation and control algorithms

Hong, X., Harris, C. J. and Wilson, P. A. (1999) Autonomous ship collision free trajectory navigation and control algorithms. In: Proceedings of EFTA '99: the7th IEEE International Conference on Emerging Technologies and Factory Automation. IEEE Press, Barcelona, Spain, pp. 923-929. ISBN 0780356705

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To link to this item DOI: 10.1109/ETFA.1999.813090


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 a 2D image or plots relating to physical hazards or other constraints such as collision avoidance regulations. The navigation command is given as a heading command sequence based on generating a way point which falls within a small neighborhood of the current position, and the sequence of the way points along the trajectory are guaranteed to lie within a bounded obstacle free region using convex set theory. A neurofuzzy network predictor which in practice 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 in the simulation of an ESSO 190000 dwt tanker model to demonstrate the effectiveness of the system.

Item Type:Book or Report Section
Divisions:Science > School of Mathematical, Physical and Computational Sciences > Department of Computer Science
ID Code:18521
Uncontrolled Keywords:2D image, ESSO tanker model, analytic geometry, autonomous ship collision free trajectory control algorithms, autonomous ship collision free trajectory navigation algorithms, bounded obstacle free region, collision avoidance regulations, convex set theory, external sensors, geometric information, heading command sequence, navigation command, neurofuzzy network predictor, observed input/output data, on board sensors, physical hazards, plots, polygon shaped free space, recursive navigation algorithm, rudder deflection angle, sensor fusion algorithm, ship heading angle control, simulation
Publisher:IEEE Press

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