Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions

Abstract

This paper focuses on a fuzzy logic based intelligent decision making system that aims to improve the safety of marine vessels by avoiding collision situations. It can be implemented in a decision support system of an oceangoing vessel or included in the process of autonomous ocean navigation. Although Autonomous Guidance and Navigation (AGN) is meant to be an important part of future ocean navigation due to the associated cost reduction and improved maritime safety, intelligent decision making capabilities should be an integrated part of the future AGN system in order to improve autonomous ocean navigational facilities. In this study, the collision avoidance of the Target vessel with respect to the vessel domain of the Own vessel has been analyzed and input, and output fuzzy membership functions have been derived. The if–then rule based decision making process and the integrated novel fuzzy inference system are formulated and implemented on the MATLAB software platform. Simulation results are presented regarding several critical collision conditions where the Target vessel fails to take appropriate actions, as the “Give way” vessel to avoid collision situations. In these situations, the Own vessel is able to take critical actions to avoid collisions, even when being the “Stand on” vessel. Furthermore, all decision rules are formulated in accordance with the International Maritime Organization Convention on the International Regulations for Preventing Collisions at Sea (COLREGs), 1972, to avoid conflicts that might occur during ocean navigation.