University of Hertfordshire

By the same authors

An Integrated Risk Assessment and Collision Avoidance Methodology for an Autonomous Catamaran with Fuzzy Weighting Functions

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Original languageEnglish
Title of host publicationCONTROL 2022: The 13th UK Automatic Control Council (UKACC) International Conference
Number of pages7
ISBN (Print)978-1-6654-5201-4
Publication statusPublished - 22 Apr 2022
EventCONTROL 2022: The 13th UK Automatic Control Council (UKACC) International Conference - University of Plymouth, Plymouth, United Kingdom
Duration: 20 Apr 202222 Apr 2022


ConferenceCONTROL 2022: The 13th UK Automatic Control Council (UKACC) International Conference
Country/TerritoryUnited Kingdom
City Plymouth
Internet address


Collision avoidance and risk assessment are open problems to be practically addressed in maritime transportation. In high-speed vessels this problem becomes more challenging due to manoeuvring and reaction time constraints. Here, a reactive collision avoidance and risk assessment technique with fuzzy weighting functions are proposed for a relatively high-speed autonomous catamaran. To follow paths between predefined waypoints, a Line of Sight (LOS) technique with Cross Tracking Error (CTE) is utilised. Besides, a new collision risk index is introduced based on fuzzy weighting functions. To perform formal maritime decision making, the standard marine COLlision REGulations (COLREGs) are incorporated into the algorithm. Furthermore, a simplified Closest Point of Approach (CPA) formulation is presented. The proposed framework is simulated on a realistic model of a vessel including input and non-holonomic constraints and disturbances. Simulation results for various encounter scenarios demonstrate the merits of the proposed method.

ID: 27172188