The coordinate control of ship steering and main propulsion in constrict waters for collision avoidance

A novel decision support methodology for oceangoing vessel collision avoidance

“…Efforts on the investigation of propulsion system's influence on the ship's collision avoidance were performed by Yongqiang and Chen (2010) and Johansen et al (2016), who developed a model that estimates the speed and rudder commands that should be provided to the engine control system during collision avoidance manoeuvres. Although these studies included the propulsion system in the collision avoidance techniques, the control parameters used for the ordered engine speed were not able to represent the performance and response of the ship's propulsion system during manoeuvres.…”

A Cross-Domain Survey of Metrics for Modelling and Evaluating Collisions

“…Second, they minimize the deviation from the original intended route. The method proposed by Yongqiang and Chen [77], for instance, focuses the optimization of ship control for collision avoidance on a weighted fitness function that balances these two principles. More complex approaches take into account the sometimes-considerable effects of motion on the water surface.…”