|Title:||EXPERIMENTAL STUDY ON THE SHIP AUTONOMOUS COLLISION AVIODANCE SYSTEM||Authors:||JING-FA TSAI
Li, J. H.
Fang, C. C.
|Keywords:||Autonomous collision avoidance experiment | Collision avoidance system | Fuzzy control | Ship manoeuvring | Ship model||Issue Date:||1-Jan-2019||Journal Volume:||38||Journal Issue:||1||Source:||Journal of Taiwan Society of Naval Architects and Marine Engineers||Abstract:||
An autonomous collision avoidance system was built and validated by the 3.5 m ship model collision experiments in the Dahu Park, Taipei. The autonomous collision avoidance system consists of three subsystems which are detection system, collision avoidance decision-making system and control system. The detection system consists of the various sensors and detects the dynamic information of the target ship by the laser scanner. The dynamic in-formation of the target ship is smoothed by the Kalman one-dimensional model and is transmitted to the decision-making system. The decision-making system makes the collision avoidance decision by the Convention on the International Regulations for Preventing Collisions at Sea with the dynamic information and fuzzy logic theory. The decisions are then transmitted to the control system. The control system has two control logics which are fixed heading and variable heading. The fixed heading logic uses the fuzzy control steering system to calculate the rudder angle to keep the ship sailing in a straight line. The variable heading logic adopts the first-order Nomoto equation of motion model with the coefficients calculated from the ship model turning cycle test. The rudder angle which makes the ship to reach the yaw rate is then determined by the decision-making system. The scenario of the autonomous collision avoidance experiments is to make a target ship driving to an own ship which is sailed along a course and cause a collision crisis. The own ship will turn to the collision avoidance course at the design speed until the collision crisis is averted. After the collision crisis, the own ship will return to its direction of the original course. The own ship can pass the target ship safely and return to the original course from a collision crisis. The autonomous collision avoidance system built in the ship manoeuvring study is successful.
|Appears in Collections:||工程科學及海洋工程學系|
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