The Design of Fuzzy Collision-Avoidance Expert System Implemented by H∞ - Autopilot

Authors

Cheng-Neng Hwang, Associate professor, Department of Naval Architecture and Marine Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
Joe-Ming Yang, Associate professor, Department of Naval Architecture and Marine Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
Chung-Yen Chiang, Graduate student, Department of Naval Architecture and Marine Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.

Abstract

Collision avoidance is one of the urgent topics on ship voyage at sea. Experts’ experience is still essential when a ship is in the danger of colliding with the others nowadays although a lot of electronic voyage supported apparatuses have been equipped on ships. To include these experts’ experiences to resolve the problems of collision, we design a fuzzy collision-avoidance expert system that includes a knowledge base to store facts and rules, an inference engine to simulate experts’ decision and a fuzzy interface device. Either a quartermaster or an autopilot system can then implement the avoidance action proposed in the research. To perform the ship task of collision-avoidance effectively, a robust autopilot system that is based on the state space H∞ control methodology is designed to steer a ship safely for various outer surroundings at sea in performing course keeping, course-changing and route-tracking more robustly. The integration of fuzzy collision-avoidance and H∞ autopilot systems is then proposed in this paper.

Recommended Citation

Hwang, Cheng-Neng; Yang, Joe-Ming; and Chiang, Chung-Yen (2001) "The Design of Fuzzy Collision-Avoidance Expert System Implemented by H∞ - Autopilot," Journal of Marine Science and Technology: Vol. 9: Iss. 1, Article 4.
DOI: 10.51400/2709-6998.2432
Available at: https://jmstt.ntou.edu.tw/journal/vol9/iss1/4