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The Integrated Design of Fuzzy Collision-Avoidance and H∞-Autopilots on Ships

Published online by Cambridge University Press:  15 February 2002

Cheng-Neng Hwang
Cheng-Neng Hwang
Affiliation:
National Cheng Kung University, Taiwan
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Abstract

Collision avoidance remains the most important concern for ships at sea. Despite the electronic equipment now fitted on ships to support the mariner, expert experience is still essential when a ship is in danger of colliding with the others. To include these experts' experiences to resolve the problems of collision, we have designed a fuzzy collision-avoidance expert system that includes a knowledge base to store facts and rules, an inference engine to simulate experts' decisions and a fuzzy interface device. Either a quartermaster or an autopilot system can then implement the avoidance action proposed in the research. To perform the task of collision-avoidance effectively, a robust autopilot system using the state space H∞ control methodology has been designed to steer a ship safely for various conditions at sea in performing course keeping, course-changing and route-tracking more robustly. The integration of fuzzy collision-avoidance and H∞autopilot systems is then proposed in this paper.

Keywords

Collision avoidanceAutopilotsAutomation
Type
Research Article
Information
The Journal of Navigation , Volume 55 , Issue 1 , January 2002 , pp. 117 - 136
Copyright
© 2002 The Royal Institute of Navigation

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