International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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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,)
  • Published : 2002.06.01
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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.

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References

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