This thesis presents methods for autonomous guidance, stepwise path planning, and path-following controlwith anti-collision and COLREGs compliance. The system is validated through simulations.
Two waypoint generation methods are developed, i.e., the navigation function method and the streamfunction method. These two methods are modified to achieve COLREGs compliance. The navigationfunction method guarantees global convergence. While the stream function method gives shorter andsmoother path.
Each waypoint generation method can be integrated with a path generation algorithm. The path generationalgorithm formulates a quadratic programming problem to minimize path length between twowaypoints. A controller is designed using backstepping and a thrust allocation algorithm is implementedto perform path following.