Abstract
The authors of this paper make a noble attempt to devise a strategic avoidance mechanism from collision of two ships, during overtaking in a narrow channel using active disturbance rejection control tool designed on path planning and tracking method. Firstly, the trajectory of ship collision avoidance was constructed by using a sigmoid function. Then, a real-time route tracking of ship motion was designed based on fuzzy adaptive control. The controller can estimate and compensate for the model parameter variation caused by the changes of ship’s inertia and outside disturbance, so as to guarantee the system robustness. The proposed path tracking controller can control the ship, tracking the ideal collision avoidance path rapidly to avoid collisions.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Guan, T.: Study on collision avoidance to mobile ship in sea-route based on virtual force field. Comput. Eng. 31(7), 99–102 (2009)
Cao, J., Ling, Z., Gao, C., et al.: Collision avoidance and formation control for multi-agent based on swarming. J. Syst. Simul. 26(3), 562–566 (2014)
Mao, Y., Song, L., Xiang, Z., et al.: Multi-collision intelligent collision avoidance strategy for unmanned surface vehicle. J. Dalian Maritime Univ. 41(4), 8-13 (2015)
Wang, S., Shi, G., Wei, J., et al.: Research on active collision avoidance for autonomous vehicle based on model predictive control. In: 2nd International Conference on Applied Mechanics and Mechatronics Engineering, pp. 179–184 (2017)
Phanthong, T., Maki, T., Ura, T., et al.: Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater collisions. J. Mar. Sci. Appl. 13, 105–116 (2014)
Wang, J., Zhao, Y., Yang, J., et al.: Design of a linear active disturbance rejection controller for collision free path planning. J. Harbin Eng. Univ. 36(10), 1361–1365 (2015)
Wang, R., Zhao, Y., Xie, B.: Dynamic mathematical model for collision avoidance by ship steering. J. Dalian Maritime Univ. 40(1), 17–20 (2014)
Fan, Y., Sun, X., Wang, G., Guo, C.: On fuzzy self-adaptive PID control for USV course. In: 34th Chinese Control Conference, Shanghai, vol. 7, pp. 8472-8478 (2015)
Fan, Y., Guo, C., Zhao, Y., et al.: Design and verification of straight line path following controller for USV with time-varying drift angl. 37(11), 2514-2520 (2016)
Acknowledgements
This work was supported by Natural Science Research Project of Universities in Jiangsu Province under Grant No. 19KJD580001, 19KJA150005 and 18KJB580003.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Wang, R., Miao, K., Sun, J., Zhao, Y., Deng, H., Du, J. (2021). Path Tracking Control for Ship Collision Avoidance When Overtaking in Narrow Channel. In: WU, C.H., PATNAIK, S., POPENTIU VLÃDICESCU, F., NAKAMATSU, K. (eds) Recent Developments in Intelligent Computing, Communication and Devices. ICCD 2019. Advances in Intelligent Systems and Computing, vol 1185. Springer, Singapore. https://doi.org/10.1007/978-981-15-5887-0_35
Download citation
DOI: https://doi.org/10.1007/978-981-15-5887-0_35
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-5886-3
Online ISBN: 978-981-15-5887-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)