WSEAS Transactions on Circuits and Systems
Print ISSN: 1109-2734, E-ISSN: 2224-266X
Volume 20, 2021
Novel Formulation for Line of Sight Guidance and Obstacle Avoidance
for Under-actuated Ships
Authors: ,
Abstract: Automatic control of under-actuated ships is a challenging task due to the external factors and limited
actuators onboard a ship. It is even more so when the controller needs to seamlessly integrate with a guidance
system and obstacle avoidance for the purpose of autonimity. In this paper, line of sight guidance system for
marine surface vessels is augmented to include obstacle avoidance. The process of directing the ship movement
to avoid a stationary and moving obstacles is tackled by introducing an iterative mathematical formulation for
the circle of avoidance algorithm. Unlike learning based guidance system, the proposed formulation has an
explicit solution that is updated at each instant in time. Three simulations are conducted to assess the performance
of the overall guidance and avoidance system. The developed algorithm is validated through simulation results
of a 6-degree of freedom model of a ship. The simulation results prove the effectiveness of the developed
technique to converge the ship to the desired trajectory autonomously while avoiding obstacles along the path.
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Keywords: Systems Theory, Control, Ship guidance system, trajectory planning, Line-of-Sight (LOS), Circle-of-Avoidance (COA) and
obstacle avoidance
Pages: 1-9
DOI: 10.37394/23201.2021.20.1