Fuzzy Risk Evaluation and Collision Avoidance Control of Unmanned Surface Vessels

Fuzzy Risk Evaluation and Collision Avoidance Control of Unmanned Surface Vessels

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In this investigation, a smart collision avoidance control design, which integrates a collision avoidance navigation and a nonlinear optimal control method, is developed for unmanned surface vessels (USVs) under randomly incoming ships and fixed obstacle encounter situations.For achieving collision avoidance navigation, a fuzzy collision risk indicator and a fuzzy collision avoidance acting timing indicator are developed.These two risk indicators can offer effective pre-alarms for making the controlled USVs to perform dodge actions elliot pecan tree for sale in time when obstacles appear.As to nonlinear optimal control law, it provides a precise trajectory tracking ability for the controlled USVs to follow a collision avoidance click here trajectory, which is generated via a smart collision avoidance trajectory generator.

Finally, a power allocation method is used to transform the desired control law into available actuator outputs to guide the USVs to follow a desired collision avoidance trajectory.From simulation results, the proposed collision avoidance strategy reveals a promising collision avoidance performance and an accurate trajectory tracking ability with respect to fixed objects and randomly moving ships under the effect of environmental ocean disturbances.