Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

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

Version 1 : Received: 17 June 2021 / Approved: 21 June 2021 / Online: 21 June 2021 (14:55:32 CEST)

A peer-reviewed article of this Preprint also exists.

Ahmed, Y.A.; Hannan, M.A.; Oraby, M.Y.; Maimun, A. COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters. J. Mar. Sci. Eng. 2021, 9, 790. Ahmed, Y.A.; Hannan, M.A.; Oraby, M.Y.; Maimun, A. COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters. J. Mar. Sci. Eng. 2021, 9, 790.

Journal reference: J. Mar. Sci. Eng. 2021, 9, 790
DOI: 10.3390/jmse9080790

Abstract

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 analyzed 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.

Subject Areas

Collision Avoidance; COLREGs; Fuzzy logic; Decision Making; Multiple Ships; MATLAB Simulink

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