Universiti Teknologi Malaysia Institutional Repository

COLREGs compliant fuzzy-based collision avoidance system for multiple ship encounters

Ahmed, Y. A. and Hannan, M. A. and Oraby, M. Y. and Maimun, A. (2021) COLREGs compliant fuzzy-based collision avoidance system for multiple ship encounters. Journal of Marine Science and Engineering, 9 (8). ISSN 2077-1312

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Official URL: http://dx.doi.org/10.3390/jmse9080790

Abstract

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 maximumcourse 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.

Item Type:Article
Uncontrolled Keywords:collision avoidance, decision making, fuzzy logic
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:94612
Deposited By: Narimah Nawil
Deposited On:31 Mar 2022 15:12
Last Modified:31 Mar 2022 15:12

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