A COLREG-Compliant Ship Collision Avoidance Algorithm

Zaccone, Raphael; Martelli, Michele; Figari, Massimo

doi:10.23919/ecc.2019.8796207

Cited by 31 publications

(24 citation statements)

References 17 publications

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“…These laws are formulated by International Maritime Organization (IMO) in 1972 and named International Regulations for Preventing Collisions at Sea (COLREGs). This 1972 convention [4] It is a matter of fact that several studies on ship collision avoidance systems have considered the COLREGs rule in their algorithm [26,27] and several ignore these completely [13]. A system ignoring the COLREGs rules might successfully avoid ship collisions.…”

Section: Marine Traffic Rules and Regulationmentioning

confidence: 99%

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

Ahmed

Hannan

Oraby

et al. 2021

JMSE

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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 maximum-course 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.

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Section: Marine Traffic Rules and Regulationmentioning

confidence: 99%

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

Ahmed

Hannan

Oraby

et al. 2021

JMSE

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“…In the last decade, Autonomous Surface Vessels (ASVs) have been the maritime community's main research topic. Most of the efforts are focused on developing more reliable algorithms for autonomous navigation, guidance, and control [1] [10]. These algorithms can limit the human operator's errors, driving the waterborne transport towards more energyefficiency, more safety, reducing the overall operating expenditure [11].…”

Section: Related Workmentioning

confidence: 99%

An Outlook on the Future Marine Traffic Management System for Autonomous Ships

Martelli¹,

Virdis

Gotta

et al. 2021

IEEE Access

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In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing the ship navigator and the ship engineer that possess sensing and analysis skills, situational awareness, planning, and control capabilities. Many efforts have been made in developing onboard systems; however, the shore facilities are not ready yet to deal with these new technologies. The paper aims to present the innovative technologies and methodologies needed to develop a futuristic Vessel Traffic System. The proposed systems will aim at faultless data acquisition and processing, provide input to decision-making systems, and suggest evasive manoeuvre; to deal with hazards and systems failure without human intervention onboard. The system is composed of three different and interacting layers. The first is an artificially intelligent tool to detect and control autonomous ships, thanks to situation recognition and obstacle avoidance strategies. The second is an orchestration and management platform designed to coordinate the sensing/actuation infrastructure and the AI algorithms' results made available by multiple ships, mustering edge, and distributed computing techniques to fulfil the specific harsh requirements of the sea environment. The final part is a holistic guidance-navigation-control framework to manage autonomous ships' navigation in a crowded area. Eventually, a cyber-physical scenario, using both a ship digital-twin and a real model-scale ship, is suggested to test and validate the innovative system without the availability of a full-scale scenario.

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“…The cost function considers the path length, the path smoothness and the distance from obstacles. An approach for including COLREGs in the proposed method was presented in [55,56]. The method was verified by simulations with two static obstacles (islands) and two target ships.…”

Section: Non-deterministic Approachesmentioning

confidence: 99%

Review of Collision Avoidance and Path Planning Methods for Ships Utilizing Radar Remote Sensing

Lazarowska

2021

Remote Sensing

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The paper presents a comparative analysis of recent collision avoidance and real-time path planning algorithms for ships. Compared methods utilize radar remote sensing for target ships detection. Different recently introduced approaches are briefly described and compared. An emphasis is put on input data reception using a radar as a remote sensing device applied in order to detect moving obstacles such as encountered ships. The most promising methods are highlighted and their advantages and limitations are discussed. Concluding remarks include proposals of further research directions in the development of collision avoidance methods utilizing radar remote sensing.

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A COLREG-Compliant Ship Collision Avoidance Algorithm

Cited by 31 publications

References 17 publications

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters

An Outlook on the Future Marine Traffic Management System for Autonomous Ships

Review of Collision Avoidance and Path Planning Methods for Ships Utilizing Radar Remote Sensing

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