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dc.contributor.authorShuai, Yonghui
dc.contributor.authorLi, Guoyuan
dc.contributor.authorXu, jinshan
dc.contributor.authorZhang, Houxiang
dc.identifier.citationIEEE Access. 2020, 8 110140-110152.en_US
dc.description.abstractShip maneuvering toward a dock is a hot research topic in the field of autonomous ships. How to realize autonomous low-speed maneuver to a designated location under environmental disturbances is the fundamental problem at present. In addition, potential collisions with other nearby vessels and evasive maneuvers that meet maritime regulations increase the complexity of maneuvering. This paper presents an effective ship control strategy for collision-free maneuver toward a dock. In the strategy, a line-of-sight (LOS) algorithm is utilized to steer the ship along a pre-planned path toward the dock. A collision risk factor that takes ship's maneuvering characteristics, ship domain and relative velocity into account is designed for collision avoidance. Evasive maneuvers complying with the main rules of the international collision avoidance regulations at sea can be achieved based on the risk factor. A ship bumper is constructed, based on which the strategy can switch to either “path following” or “collision avoidance”. Numerical simulations for different encounter situations including head-on, starboard-crossing and overtaking under wind perturbations are carried out. The results show the proposed strategy is able to keep the ship domain free during maneuvering and steer the ship to the docking area in a safe and appropriate manner.en_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.titleAn effective ship control strategy for collision-free maneuver toward a docken_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.source.journalIEEE Accessen_US
dc.relation.projectNorges forskningsråd: 280703en_US
dc.relation.projectNorges forskningsråd: 298399en_US
dc.description.localcodeThis work is licensed under a Creative Commons Attribution 4.0 License. For more information, see

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