The Development of Algorithms for Safe Control of an Autonomous Ship
Abstract
The paper presents the results of a research on the development of algorithms for ship’s safe ship trajectory calculation and automatic control of the ship along the determined trajectory. These methods are intended for use in the autonomous navigation system of an Unmanned Surface Vehicle (USV) or a Maritime Autonomous Surface Ship (MASS). The work presents the consecutive stages of a research that must be carried out in order to develop a system that will perform the task of multidimensional ship control in a port. The safe trajectory is calculated with the use of the Ant Colony Optimization (ACO) method. The ship motion control is based on the Linear Matrix Inequalities (LMI) method, implemented using the Mathworks
and Yalmip libraries. The results of controlling the ship’s motion in accordance with the calculated trajectory are presented in the paper. With the use of the developed system, the ship can move autonomously based on the information from the DGPS system and a gyrocompass. The presented results concerned a computer simulation of maneuvers in the port of the Blue Lady ship from the Foundation for Shipping Safety and Environmental Protection.
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