International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Fuzzy Logic for Autonomous Navigation of Marine Vehicles Satisfying COLREG Guidelines

  • Lee, Sang-Min (Dept. of Control ＆ Instrumentation Eng, Graduate School of Changwon National University) ;
  • Kwon, Kyung-Yub (Dept. of Control ＆ Instrumentation Eng, Graduate School of Changwon National University) ;
  • Joongseon Joh (Dept. of Control ＆ Instrumentation Eng, Graduate School of Changwon National University)
  • Published : 2004.06.01
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Abstract

An autonomous navigation algorithm for marine vehicles is proposed in this paper using fuzzy logic under COLREG guidelines. The VFF (Virtual Force Field) method, which is widely used in the field of mobile robotics, is modified for application to the autonomous navigation of marine vehicles. This Modified Virtual Force Field (MVFF) method can be used in either track-keeping or collision avoidance modes. Moreover, the operator can select a track-keeping pattern mode in the proposed algorithm. The collision avoidance algorithm has the ability to handle static and/or moving obstacles. The fuzzy expert rules are designed deliberately under COLREG guidelines. An extensive simulation study is used to verify the proposed method.

Keywords

References

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