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Chien-Min Su
National Taiwan Ocean
University
Department of Electrical
Engineering
No.2 Pei-Ning Rd. Keelung
Taiwan
cmsu@mail.ntou.edu.tw
ABSTRACT
This paper proposed a novel fuzzy logic method to
increase vessel collision avoidance capability on VTS/
AIS. The purpose is to decrease the traffic accidents for
all potential collision ships in the VTS surveillance area.
VTS does not have enough technical capability to monitor
a crowded surveillance area for navigational safety.
Without an efficient alert system, many marine accidents
have occurred due to operator oversight. In this paper, the
collision alert system for VTS/AIS/MGIS is presented to
enhance the VTS operators decision-making abilities
which based on the concept of the danger index (radical
axis method) and fuzzy guarding ring. The danger index
for vessel collision is calculated by the MGIS algorithm
and the size of the guarding ring is determined by the
fuzzy logic theorem. Furthermore, the AHP method will
be used to determine the fuzzy membership function.
Starting from the VTS standpoint and integrating AIS
data into the MGIS. Hence, a precise prediction of
collision time and position can be achieved via a MGIS
spatial analyst module. The integration of MGIS as a
platform for a VTS/AIS collision alert system is a new
concept in nautical digital computer system. The MGIS
platform provides mapping and spatial analysis capability
to calculate the collision risk among a large number of
ships, which the traditional ARPA is unable to
accomplish in the same time. Two programming
languages, Virtual Basic and C++, have been used as an
integrating framework via communication port for
VTS/AIS and MGIS. In the further, the proposed system
will be extended to advise the timing and angle of rudder
required for collision avoidance, which can avoid
collision events by well communication between VTS
operator and navigator.
KEY WORDS
AHP, AIS, collision avoidance, fuzzy logic, MGIS, and
VTS
1. Introduction
Chih-Yung Cheng
National Taiwan Ocean
University
Department of Electrical
Engineering
No.2 Pei-Ning Rd. Keelung
Taiwan
ccheng@mail.ntou.edu.tw
Ki-Yin Chang
National Taiwan Ocean
University
Department of Merchant
Marine
No.2 Pei-Ning Rd. Keelung
Taiwan
B0170@mail.ntou.edu.tw
b
r1
B
r2
O2
O1
Weight
0.456
0.228
0.135
0.084
0.048
0.048
Ranking
1
2
3
4
5
5
According to Goodwins statistical analysis of ship domain, the minimum distance between vessels is 0.9 nautical miles [15]. Therefore, the formula for the modified
radius of the guarding ring (MR) is calculated as MR = 0.9
+ D. The linguistic variable ship size (L) is calculated
based on the data of 420 AIS-equipped ships that was
gathered and analyzed by ClassNK, a ship classification
society in Japan (www.class.or.jp). According to the
statistical analysis, ship size values of 130/190/250 meters
are taken to correspond to linguistic variable values of
small, medium and large. The first step is to describe the
linguistic variable of ship size on the universal discourse
set Usize = [130, 250] and operating domain of x (base
variable) representing ship size in meters, using triangular
and partial trapezoidal membership functions which
specify the terms small, medium and large, these three
linguistic terms can be converted to the following fuzzy
numbers: small = (0, 0, 130, 190), medium = (130,
190, 190, 250), large = (190, 250, 250, 250) as shown
in Figure 2(a).
R25
R26
R27
L
LARGE
MEDIUM
SMALL
LARGE
MEDIUM
SMALL
V
FAST
MEDIUM
SLOW
MEDIUM
SLOW
MEDIUM
S
ROUGH
MEDIUM
GENTLE
ROUGH
ROUGH
GENTLE
D
LARGE
MEDIUM
SMALL
LARGE
MEDIUM
SMALL
rCOA
r (r )
j =1 j D j
n
(r )
j =1 D j
2
t
danger (t ) =
2
t
2
0 t
t
2
t
3. Simulation
Figure 3. The fuzzy reasoning of max-min composition.
t = 0
4. Conclusions
In this study, a VTS/AIS/MGIS integrated alert system is
proposed to predict the location and time of all potential
collisions. It should be noted that our work is based on
true motion observation. Thus, it provides the VTS
operator as a tool for monitoring the motion for all ships
to avoid collision accidents in heavy traffic surveillance
(a) Overtaking
(b) Head-on
(c) Crossing
Figure 7. The prediction of course line, collision point and
geographical relation between two ships in true motion.
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