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http://dx.doi.org/10.5391/IJFIS.2002.2.2.100

Collision Avoiding Navigation of Marine Vehicles Using Fuzzy Logic  

Joh, Joong-seon (Dept. of Control ＆Instrumentation Eng., Changwon National University #9 Sarim-dong, Changwon,)
Kwon, Kyung-Yup (Dept. of Control ＆Instrumentation Eng., Changwon National University #9 Sarim-dong, Changwon,)
Lee, Sang--Min (Dept. of Control ＆Instrumentation Eng., Changwon National University #9 Sarim-dong, Changwon,)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.2, no.2, 2002 , pp. 100-108 More about this Journal
Abstract
A fuzzy logic for collision avoiding navigation of marine vehicles is proposed in this paper. VFF(Virtual Force Field) method, which is used widely in the field of mobile robots, is modifiel to apply to marine vehicles. The method is named MVFF (Modified Virtual Force Field) mothod. The MVFF consists of the determination of the heading angles far track-keeping mode ($\psi_{ca}$)and collision avoidance mode ($\psi_{ca}$). The operator can choose the pattern of the track-keeping mode in the proposed algorithm. The collision avoidance algorithm can handle static and/or moving obstacles. These functons are implemented using fuzzy logic. Various simulation results verify the proposed alogorithm.
Keywords
MVFF; Track-keeping Mode; Collision Avoidance; Moving Obstacle; Fuzzy Logic;
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