(A) study on the construction of new ship domain and consecutive waypoints generation method for automatic collision avoidance system of ship

다국어 초록 (Multilingual Abstract)

Abstract
Automatic collision avoidance (ACA) system is an intensive discussion issue in the
field of navigation. In the recent decade, maritime industry has been witnessed an
unprecedented development. Giant ships are gradually mastering the sea. When
traditional methods of transportation are no longer truly effective in the competition,
new ones should be figured out. In order to meet this requirement, researchers have
been thinking of upgrading automation system at shore or board which can facilitate
mariners in the optimal maneuver. The topic of “automatic collision avoidance
system”, therefore, becomes the most challenged to scholars over the world.
This thesis introduces an automatic collision avoidance system integrated by three
parts: watch keeping module which operates collection information of target ship
(TS), a module to determine feasible collision avoidance action according to
COLREG and a tracking module for keeping the own ship on the desired route. The
evolution of proposed system is a cooperation between a new model of ship domain
and a new ACA algorithm integrated into the second module for generating proper
avoiding action. The effectiveness of the novel suggestion system is also evaluated
in this research alongside the effective combination mentioned above in making
avoidance action.
The new ship domain model defining the most dangerous area around TS is shaped
based on ship maneuverability information and good seamanship, within which
statistical method is performed. 100 commercial vessels and 60 experienced
officers are surveyed in order to determine parameters employed for ship domain
construction. The new concept of automatic collision avoidance is adopted by
mutually flexible application between PID controller and complexity rules of
algorithm named Consecutive waypoint generation (CWPG) algorithm. Many
simulation scenarios are then, utilized to validate the effectiveness and feasibility
of the suggested system accompanying with the evaluation on saving energy and
smoothness of the performance.
A novel ACA system is presented in this thesis the effectiveness of which is
convincing. The new ship domain model can be widely applied in general cases
instead of certain restriction areas implementing surveys in previous studies. Its
advantages are further demonstrated in the association with ACA algorithm for
making collision avoidance route. Simulation scenarios are processed and approved
to be effective in comparison with the simulated results of CWPG algorithm by a
representative algorithm of previous studies. There is no fulfilled acceptance
solution to the major until now, however, new approaching development of this
research will promise a positive result for an application of ACA system in deploy
in the future.

목차 (Table of Contents)

• Contents
• Abstract ..................................................................................................................
• Contents .................................................................................................................
• List of Figures .......................................................................................................
• List of Tables .........................................................................................................
• Nomenclatures ......................................................................................................
• Chapter 1 Introduction ......................................................................................... 1
• 1.1 Background of research .............................................................................. 1
• 1.1.1 Automatic control system ....................................................................... 1
• 1.1.2 Automatic ship control ........................................................................... 2
• 1.2 Research Proposal ....................................................................................... 9
• 1.3 Research Outline ......................................................................................... 9
• Chapter 2 Ship mathematical model ................................................................. 14
• 2.1 Introduction ............................................................................................... 14
• 2.2 Mathematical Model ................................................................................. 16
• 2.2.1 Ship model and coordinate system ....................................................... 16
• 2.2.2 Transmuting axis .................................................................................. 18
• 2.2.3 Mathematical model for external Forces and Moment ........................ 21
• 2.3 Summary .................................................................................................... 25
• Chapter 3 Ship domain ....................................................................................... 25
• 3.1 Introduction ............................................................................................... 27
• 3.2 Previous ship domain study ...................................................................... 30
• 3.2.1 Statistical approach .............................................................................. 30
• 3.2.2 Analyzing approach .............................................................................. 31
• 3.2.3 Artificial intelligent approach .............................................................. 31
• 3.2.4 Other classifications and discussion ..................................................... 32
• 3.3 The suggestion for new ship domain ....................................................... 32
• 3.4 Domain parameters determination.......................................................... 41
• 3.4.1 Parameters of “Blocking area” ............................................................. 41
• 3.4.2 Parameter of “Action area” .................................................................. 60
• 3.6 Summary .................................................................................................... 64
• Chapter 4 Automatic collision avoidance system ............................................. 66
• 4.1 Introduction ............................................................................................... 66
• 4.2 Literature preview ..................................................................................... 68
• 4.3 Overview of automatic collision avoidance system ................................ 70
• 4.4 Fuzzy set ..................................................................................................... 72
• 4.4.1 Rule – Based fuzzy system ................................................................... 73
• 4.4.2 Fuzzy system structure ......................................................................... 74
• 4.4.3 Collision risk assessment program ....................................................... 93
• 4.5 Consecutive waypoint generation algorithm (CWPG) .......................... 95
• 4.6 Validation ................................................................................................. 107
• 4.6.1 Floyd algorithm .................................................................................. 109
• v
• 4.6.2 Simulation .......................................................................................... 111
• 4.7 Summary .................................................................................................. 130
• Chapter 5 Conclusions and Recommendations .............................................. 132
• 5.1 Study of Polygonal Domain .................................................................... 132
• 5.2 Automatic collision avoidance system using polygonal domain and
• consecutive waypoint generation method ................................................... 134
• 5.3 Discussions and Future Studies .............................................................. 135
• Acknowledgement ............................................................................................. 137
• Reference.............................................................................................................139