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

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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Zhengyu Zhou, Yingjun Zhang, Shaobo Wang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	coordination system autonomous collision avoidance maneuverability autonomous ship Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
Acceso en línea:	https://doaj.org/article/cc6041f3cf7340abb2358c2655287ef1
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:cc6041f3cf7340abb2358c2655287ef1
record_format	dspace
spelling	oai:doaj.org-article:cc6041f3cf7340abb2358c2655287ef12021-11-25T18:04:16ZA Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships10.3390/jmse91112022077-1312https://doaj.org/article/cc6041f3cf7340abb2358c2655287ef12021-10-01T00:00:00Zhttps://www.mdpi.com/2077-1312/9/11/1202https://doaj.org/toc/2077-1312Large 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.Zhengyu ZhouYingjun ZhangShaobo WangMDPI AGarticlecoordination systemautonomous collision avoidancemaneuverabilityautonomous shipNaval architecture. Shipbuilding. Marine engineeringVM1-989OceanographyGC1-1581ENJournal of Marine Science and Engineering, Vol 9, Iss 1202, p 1202 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	coordination system autonomous collision avoidance maneuverability autonomous ship Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581
spellingShingle	coordination system autonomous collision avoidance maneuverability autonomous ship Naval architecture. Shipbuilding. Marine engineering VM1-989 Oceanography GC1-1581 Zhengyu Zhou Yingjun Zhang Shaobo Wang A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
description	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.
format	article
author	Zhengyu Zhou Yingjun Zhang Shaobo Wang
author_facet	Zhengyu Zhou Yingjun Zhang Shaobo Wang
author_sort	Zhengyu Zhou
title	A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
title_short	A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
title_full	A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
title_fullStr	A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
title_full_unstemmed	A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships
title_sort	coordination system between decision making and controlling for autonomous collision avoidance of large intelligent ships
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/cc6041f3cf7340abb2358c2655287ef1
work_keys_str_mv	AT zhengyuzhou acoordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships AT yingjunzhang acoordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships AT shaobowang acoordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships AT zhengyuzhou coordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships AT yingjunzhang coordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships AT shaobowang coordinationsystembetweendecisionmakingandcontrollingforautonomouscollisionavoidanceoflargeintelligentships
_version_	1718411707587493888

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

Ejemplares similares