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pp. 301-306.
*Centre for Marine Technology and Engineering (CENTEC), Technical University of Lisbon, Instituto Superior Tecnico,
Portugal (email:prasad.perera@mar.ist.utl.pt).
**INESC-ID, Technical University of Lisbon, Instituto Superior Tecnico, Portugal (email: joao.carvalho@inesc-id.pt).
*** Centre for Marine Technology and Engineering (CENTEC), Technical University of Lisbon, Instituto Superior Tecnico,
Portugal (Tel: +351 21 841 7468; email: guedess@mar.ist.utl.pt).
Abstract: This paper focuses on a study of the sequential action execution module for a collision
avoidance system in ocean navigation. The overall decision-action process of collision avoidance consists
on a Fuzzy logic based parallel decision making module and those decisions are formulated into collision
avoidance actions by a Bayesian network based sequential action execution module. The presented
collision avoidance system is capable of making multiple sequential actions to avoid complicated collision
situations involving multiple vessels in ocean navigation while still respecting the COLREGs rules and
regulations.
Keywords: Ocean navigation, Collisions avoidance, Fuzzy logic, Bayesian Network, Decisions support
system, Decisions making, Parallel decisions, Sequential actions, COLREGs.
Considering the Bayesian Rule, the CRF update from the P(Ω i (k)) = ∫ P(Ω (k) | Ω i i −1 (k)) P(Ω i −1 (k)) dΩ i (k - 1)
observations can be written as: −∞
1 ( Ω i (k) − Ω i (k -1) )2 1 (Ω i (k -1) − µ Ωi (k -1) )2
∞ − −
P(∆ i (k) | Z i (k)) = P(Z i (k) | ∆ i (k))P( ∆ i (k)) 2 σΩ2 2 2 σ Ωi 2 (k -1)
= ∫ β ie
1
β ie
dΩ i (k - 1) (15)
1 ( Z (k) − ∆ i (k) ) 1 ( ∆ i (k) − µ ∆i (k −1) )
2 2
− i − (7) −∞
2 σz2 1
2 σ ∆ 2 + σ ∆i 2 (k − 1)
= 3 α ie α i 2 α ie ∞ 1 σ 2 (k -1) ( Ω i (k) − Ω i (k -1) )2 + σ Ω 2 ( Ω i (k -1) − µ Ωi (k -1) )2
− Ωi
2 σΩ 2 σ Ωi 2 (k -1)
2
Z i (k) σ ∆i ((k −1) + σ 2∆ . + µ ∆i (k −1)σ 2z
) 2 = βi βi ∫ e
1 2
dΩ i (k - 1)
∆ i (k) −
1 −∞
2
σ ∆i (k − 1) + σ ∆2 + σ 2z
−
2
2
σ ∆i ((k − 1) + σ 2∆ σ 2z )
1 ( Ω i (k) − µ Ωi (k -1) )2
−
2
σ ∆i (k − 1) + σ 2∆ + σ 2z 1 2 2 σ Ω 2 + σ Ωi 2 (k -1)
1 2
= α i α i α ie 3 = β i β ie
Hence the updated mean and covariance for the updated CRF One can reorganize (15) as:
can be written as: 1 ( (Ω i (k) + µ Γ )− (µ Ωi (k -1) + µ Γ ) )2
−
2 σ Ω 2 + σ Ωi 2 (k -1)
µ ∆i (k) =
( 2
Z i (k) σ (k − 1) + σ . + µ ∆i (k − 1)σ
∆i
2
∆ ) 2
z
P(Ω i (k)) = β i β i e 1 2 (16)
2
σ ∆i (k − 1) + σ ∆2 + σ 2z (8) Considering the Bayesian rule, the CAAF update from the
CRF can be written as:
2
σ ∆i (k) =
(σ 2
∆i (k − 1) + σ ∆2 σ 2z )
σ (k − 1) + σ ∆2 + σ 2z
2 P(Ω i (k) | ∆ i (k)) = P(∆ i (k) | Ω i (k))P( Ω i (k))
∆i
1 (∆ (k) − (µ Ωi (k) + µ Γ ))2 1 ((Ω i (k) + µ Γ )− (µ Ωi (k -1) + µ Γ ))2 (17)
− i −
3 2 σΓ2 1
2 2 σ Ω 2 + σ Ωi 2 (k -1)
3.3.2 Collision Avoidance Action Function = β ie β i β ie
( )
2
( Ω i (k) + µ Γ )− ∆ i ( k ) σ Ω i ( k −1) + σ Ω .+ (µ Ω i ( k −1 ) + µ Γ )σ Γ
2 2 2
The Own vessel Collision Avoidance Action Function 1
−
σΩ 2 2 2
i ( k −1 ) + σ Ω + σ Γ
(CAAF) is modelled as a Gaussian distribution, Ωi(k) ~ N 2
(
2
σΩ 2
i ( k −1 ) + σ Ω σ Γ
2
)
2 2 2
σΩ i ( k −1 ) + σ Ω + σ Γ
(µΩi(k), σΩi2(k)). The CAAF function with respect to the CRF =1 β i 2 β i 3 β i e
4. COMPUTATIONAL IMPLEMENTATION
Fig. 5. Avoidance of the 1st Target Vessel
A computational simulation for 4 vessels collision situation is
used as an example for the analysis of this study. As
presented in Figure 6, the Own vessel starts navigation at the
origin (0 (m), 0 (m)) and the Target vessels 1, 2 and 3 start
from positions (6000 (m), -6000 (m)), (8800 (m), 10000 (m)),
and (-13200 (m), 12000 (m)) respectively. It is assumed that
the Target vessels are moving in constant speed and course
conditions and don’t honour any navigational laws of the sea.
The Bayesian network based CRF is presented in the x =-
12000 (m) axis. The CAAF of course and speed control
actions are presented in x = -9000 (m) and x = -6000 (m) axis
respectively. Furthermore the scaled time axis (Actual Time
× 5 (s)) with respect to the CRF and CAAFs is presented in
the y axis.
The avoidance of the 1st Target vessel is presented in Figure
5. The CRF was detected and appropriate action was taken to
avoid the Target vessel that was not honouring the
COLREGs rules and regulations. The same figure, shows the Fig. 6. Avoidance of the 2nd Target Vessel
Own vessel detecting the 2nd target vessel, and presents the
CRF and course and speed control actions of CAAFs. The
CAAFs are course to the starboard and speed reduction. The
avoidance of the 2nd Target vessel is presented in Figure 6.
Further the Own vessel detected the 3rd Target vessel and
course to port and speed reduction of CAAFs are presented in
the respective axis. Finally the avoidance of the 3rd Target
vessel is presented in Figure 7. After executing the control
actions proposed in the previous section, the Own vessel is
crossing the Target vessel trajectory safely at the back of the
vessel.
5. CONCLUSIONS
This paper introduces a novel method to formulate the
parallel decisions made by the Fuzzy-logic based system into
sequential actions execution using a Bayesian network
approach in a collisions avoidance system in ocean
navigation. As presented in the results, the Bayesian network Fig. 7. Avoidance of the 3rd Target Vessel
based action execution process could be used for complex
navigational conditions as well as complicated collision
ACKNOWLEDGEMENTS Moreira, L. and Guedes Soares, C. (2003). Dynamic model of
maneuvrability using recursive neural net-works. Ocean
This work has been made within the project ”Methodology Engineering, 30(13), 1669-1697.
for ships maneuverability tests with self-propelled models”, Perera, L.P., Carvalho, J. P., and Guedes Soares, C. (2010a).
which is being funded by the Portuguese Foundation for Smooth transition between fuzzy regions to overcome
Science and Technology (Fundação para a Ciência e failures in fuzzy membership functions of decisions in
Tecnologia) under contract PTDC/TRA/74332/2006. The collision avoidance of ocean navigation, In Proc. 25th
research work of the first author has been supported by a Mini-EURO Conference on Uncertainty and Robustness
Doctoral Fellowship of the Portuguese Foundation for in Planning and Decision Making, Coimbra, Portugal, 1-
Science and Technology (Fundação para a Ciência e 8.
Tecnologia) under contract SFRH/BD/46270/2008. Perera, L.P., Carvalho, J. P., and Guedes Soares, C. (2010b),
Fuzzy-logic based parallel collisions avoidance decision
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