Collision avoidance, guidance and control system for autonomous surface vehicles in complex navigation conditions
This paper presents a collision avoidance, guidance and control system for operation of autonomous surface vehicles in critical navigation conditions. The collision avoidance unit is based on fuzzy logic intelligent decision-making algorithm, the guidance unit uses the line-of-sight algorithm and, the control unit, is composed by a PID heading controller and a speed controller. A set of numerical simulations were carried out for different collision scenarios to validate the effectiveness and feasibility of the system. Also a case study involving ship traffic in the estuary of Tagus river, Lisbon was performed and a good performance of the system was found.