Dynamic anti-collision A-star algorithm for multi-ship encounter situations

For the complex multi-ship encounter scenarios, this article proposes a dynamic collision avoidance path planning algorithm based on the A-star algorithm and ship navigation rules, namely Dynamic Anti-collision A-star (DAA-star) algorithm. A dynamic search mechanism of the DAA-star algorithm considering time factors is designed to enable the...

Ship docking and undocking control with adaptive-mutation beetle swarm prediction algorithm

Autonomous docking and undocking control is an important part of intelligent ship motion control. In this study, the adaptive-mutation beetle swarm prediction (AMBS-P) algorithm is used to propose a control approach for autonomous docking and undocking. Firstly, this paper introduces the principle of the AMBS-P algorithm, then the convergence...

Adaptive neural sliding mode control for heterogeneous ship formation keeping considering uncertain dynamics and disturbances

This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader–follower formation...

The collaborative autonomous shipping experiment (Case): Motivations, theory, infrastructure, and experimental challenges

The future autonomous ships will be operating in an environment where different autonomous and non-autonomous vessels with different characteristics exist. These vessels are owned by different parties and each uses its owned unique approaches for guidance and navigation. The Collaborative Autonomous Shipping Experiment (CASE) aims at...

Automatic Docking for Underactuated Ships Based on Multi-Objective Nonlinear Model Predictive Control

Autonomous shipping refers to the ability of a ship to independently control its own actions while transporting cargo from one port to another, which places higher requirements on ship motion control methods. When a ship enters a port, it is important to ensure that the ship sails from the fairway area to the assigned position at the berth...

A Time-Space Network Model for Collision-free Routing of Planar Motions in a Multi-Robot Station

This article investigates a new collision-free routing problem of a multirobot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end-effector and its connected joint, and the operation is projected onto a circular area on the plane. We...

Optimizing the joint collision avoidance operations of multiple ships from an overall perspective

Ship collision is the main type of maritime accidents, which causes great losses on human lives and economy, and brings negative impacts to the maritime environment. In crowded waters such as the sea area near a seaport, multiple ships encountering situations happen frequently. While several methods have been proposed for solving multiple...

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the International Maritime Organization in 2017, in which MASS become the new focus of the waterborne...

Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels

Since vessel dynamics could vary during maneuvering because of load changes, speed changing, environmental disturbances, aging of mechanism, etc., the performance of model-based path following control may be degraded if the controller uses the same motion model all the time. This article proposes an adaptive path following control method...

Ship motion control based on AMBPS-PID algorithm

Intelligent motion control is one of the key technologies of ships. This paper studies the application of Adaptive Mutation Beetle Particle Swarm (AMBPS)-PID algorithm in ship motion control. Firstly, the ship MMG model is established. Then the BAS algorithm is introduced, and AMBPS algorithm is improved and designed on this basis. Secondly,...

Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

Over the past two decades, a number of methods have been proposed for solving maritime collision avoidance problems. Most of these works take a single ship's perspective and focus on one-to-one or one-to-many situations. To more complicated many-to-many situations, less attention has been paid. To deal with the many-to-many collision...