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Publicações
Hinostroza, M.A. e Guedes Soares, C. (2018), “Collision avoidance, guidance and control system for Autonomous Surface Vehicles in complex navigation conditions”, Guedes Soares, C. & Santos T.A., (Eds.), Progress in Maritime Technology and Engineering, pp. Taylor & Francis Group, London, UK, pp. 121-132
Collision avoidance is one of the most difficult and challenging automatic driving operations in the domain of intelligent navigation. This paper presents a collision avoidance, guidance and control system for operation of ASVs 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 marine traffic in the estuary of “Tejo” river, Lisbon was performed and a good performance of the system was found.
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