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자료유형
학술저널
저자정보
저널정보
대한전기학회 International Journal of Control Automation and Systems International Journal of Control Automation and System Vol.2 No.2
발행연도
수록면
171 - 181 (11page)

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초록· 키워드

An autonomous navigation algorithm for marine vehicles is proposed in this paper using fuzzy logic under COLREG guidelines. The VFF (Virtual Force Field) method, which is widely used in the field of mobile robotics, is modified for application to the autonomous navigation of marine vehicles. This Modified Virtual Force Field (MVFF) method can be used in either track-keeping or collision avoidance modes. Moreover, the operator can select a track-keeping pattern mode in the proposed algorithm. The collision avoidance algorithm has the ability to handle static and/or moving obstacles. The fuzzy expert rules are designed deliberately under COLREG guidelines. An extensive simulation study is used to verify the proposed method.
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목차

  1. Abstract
  2. 1. INTRODUCTION
  3. 2. CONCEPTUAL BASIS OF THE PROPOSED MVFF METHOD
  4. 3. DETERMINATION OF Ψtk
  5. 4. DETERMINATION OF Ψca
  6. 5. SIMULATIONS
  7. 6. CONCLUDING REMARKS
  8. REFERENCES

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UCI(KEPA) : I410-ECN-0101-2010-560-001654793