Automated Stationary Obstacle Avoidance When Navigating a Marine Craft

Abstract

The study deals with the issue of automated obstacle avoidance of stationary seacrafts observed from the left, ahead on course, and from the right of a moving own marine vessel. Such crafts include both miscellaneous fixed systems, and vessels restricted in their ability to maneuver. The decision on the necessity of avoidance and the new course value is made by means of Mamdani fuzzy inference. The paper describes the main elements and properties of the approach proposed, as well as the outcomes of testing according to numerous test cases. The reported errors of computational accuracy give an example of the correspondent model proposed in the research as relating to the test cases.