NDLI: Autonomous ship collision free trajectory navigation and control algorithms

Content Provider	IEEE Xplore Digital Library
Author	Hong, X. Harris, C.J. Wilson, P.A.
Copyright Year	1999
Description	Author affiliation: Dept. of Electron. & Comput. Sci., Southampton Univ., UK (Hong, X.)
Abstract	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.
Starting Page	923
Ending Page	929
File Size	555564
Page Count	7
File Format	PDF
ISBN	0780356705
DOI	10.1109/ETFA.1999.813090
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Marine vehicles Navigation Sensor fusion Set theory Sensor systems Predictive models Control systems Algorithm design and analysis Geometry Hazards
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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