An Integrated Risk Assessment and Collision Avoidance Methodology for an Autonomous Catamaran with Fuzzy Weighting Functions

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57 Downloads (Pure)

Abstract

Collision avoidance and risk assessment are open problems to be practically addressed in maritime transportation. In high-speed vessels this problem becomes more challenging due to manoeuvring and reaction time constraints. Here, a reactive collision avoidance and risk assessment technique with fuzzy weighting functions are proposed for a relatively high-speed autonomous catamaran. To follow paths between predefined waypoints, a Line of Sight (LOS) technique with Cross Tracking Error (CTE) is utilised. Besides, a new collision risk index is introduced based on fuzzy weighting functions. To perform formal maritime decision making, the standard marine COLlision REGulations (COLREGs) are incorporated into the algorithm. Furthermore, a simplified Closest Point of Approach (CPA) formulation is presented. The proposed framework is simulated on a realistic model of a vessel including input and non-holonomic constraints and disturbances. Simulation results for various encounter scenarios demonstrate the merits of the proposed method.
Original languageEnglish
Title of host publication13th UKACC International Conference on Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages228-234
Number of pages7
DOIs
Publication statusPublished - 27 May 2022
EventCONTROL 2022: The 13th UK Automatic Control Council (UKACC) International Conference - Plymouth University, Plymouth, United Kingdom
Duration: 20 Apr 202222 Apr 2022
https://estore.plymouth.ac.uk/conferences-and-events/events-including-courses/plymouth-university/control-2022-the-13th-uk-automatic-control-council-ukacc-international-conference

Conference

ConferenceCONTROL 2022: The 13th UK Automatic Control Council (UKACC) International Conference
Country/TerritoryUnited Kingdom
CityPlymouth
Period20/04/202222/04/2022
Internet address

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