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A Real-Time Collision Avoidance System for Autonomous Surface Vessel Using Fuzzy Logic

Authors :
Yancai Hu
Xiangfei Meng
Qiang Zhang
Gyei-Kark Park
Source :
IEEE Access, Vol 8, Pp 108835-108846 (2020)
Publication Year :
2020
Publisher :
IEEE, 2020.

Abstract

Numerous researches have been done to develop ASV (Autonomous Surface Vessel) collision avoidance systems. Most of the systems used static methods but did not apply a knowledge base where solutions can be reused and adapted to solve a new case. In this paper, an algorithm of autonomous collision avoidance is proposed considering steering dynamic for ASV. The process of this learning method is to recall the FCBR (Fuzzy Case Base Reasoning) containing basic expert knowledge in the form of stored cases. The solutions will be retrieved from the knowledge base to find a NH (New Heading) command for collision avoidance. Moreover, to execute the NH, a design of adaptive fuzzy ASV heading control system based on command filter is conducted considering the input saturation constraints and external disturbances. T-S fuzzy logic is employed to approximate nonlinear uncertainties existing in the heading control system adopting the MLP (Minimal Learning Parameter) technique. Finally, simulations prove that the method is effective to retrieve the past similar cases for the new collision avoidance situation and give its solution for ASV to track adjusted heading.

Details

Language :
English
ISSN :
21693536
Volume :
8
Database :
Directory of Open Access Journals
Journal :
IEEE Access
Publication Type :
Academic Journal
Accession number :
edsdoj.7e7c37739d594b08afa6e555c18e63cc
Document Type :
article
Full Text :
https://doi.org/10.1109/ACCESS.2020.3001626