Ship Collision Avoidance Path Planning Based on Particle Swarm Optimization and Neural Network in Bad Weather

Hu Yancai,Gai Xudong,Zhang Qiang,Liu Yang 국제이네비해양경제학회 2023 International Journal of e-Navigation and Maritime Vol.20 No.-

Ship collision accidents not only endanger the safety of ships and personnel, but also may cause serious marine environmental pollution. To solve this problem, advanced technologies have been developed and applied in the field of intelligent ships in recent years. In this paper, a novel path planning algorithm is proposed based on particle swarm optimization (PSO) to construct a decision-making system for ship's autonomous collision avoidance using the process analysis which combines with the ship encounter situation and the decision-making method based on ship collision avoidance responsibility. This algorithm is designed to avoid both static and dynamic obstacles by judging the collision risk considering bad weather conditions by using BP neural network. When the two ships enter a certain distance, the optimal collision avoidance course and speed of the ship are obtained through the improved collision avoidance decision-making method. Finally, through MATLAB and Visual C++ platform simulations, the results show that the ship collision avoidance decision-making scheme can obtain reasonable optimal collision avoidance speed and course, which can ensure the safety of ship path planning and reduce energy consumption.

Robust Adaptive Fuzzy Design for Ship Linear-tracking Control with Input Saturation

Yancai HU,Gyei-Kark PARK,Hengtao WU,Qiang ZHANG 국제이네비해양경제학회 2017 International Journal of e-Navigation and Maritime Vol.6 No.1

A robust adaptive control approach is proposed for underactuated surface ship linear path-tracking control system based on the backstepping control method and Lyapunov stability theory. By employing T-S fuzzy system to approximate nonlinear uncertainties of the control system, the proposed scheme is developed by combining “dynamic surface control” (DSC) and “minimal learning parameter” (MLP) techniques. The substantial problems of “explosion of complexity” and “dimension curse” existed in the traditional backstepping technique are circumvented, and it is convenient to implement in applications. In addition, an auxiliary system is developed to deal with the effect of input saturation constraints. The control algorithm avoids the singularity problem of controller and guarantees the stability of the closed-loop system. The tracking error converges to an arbitrarily small neighborhood. Finally, MATLAB simulation results are given from an application case of Dalian Maritime University training ship to demonstrate the effectiveness of the proposed scheme.

Fuzzy Design for Ship Heading Control Using ACFB for e-Navigation

Yancai Hu,Gyei-Kark Park,Taeho Hong,Geonung Kim 한국지능시스템학회 2017 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.17 No.4

In this paper, a fuzzy robust design for ship heading control using ACFB (adaptive command filtered backstepping) is proposed considering the input saturation constraints and external disturbances for e-Navigation. This novel adaptive controller is constructed for the underactuated surface ship with rudder dynamics control system based on the Lyapunov stability theory, and this control algorithm guarantees the stability of the closed-loop system. T-S fuzzy logic system is employed to approximate nonlinear uncertainty in the control system. The proposed algorithm is developed by combining command filter and minimal learning parameter (MLP) techniques to compensate the control error. The substantial problems of “explosion of complexity” and “dimension curse” existed in the conventional adaptive backstepping technique are circumvented. It is convenient to implement for the e-Navigation application. Moreover, in order to deal with the effect of input saturation constraints, an auxiliary system is developed. Finally, the MATLAB simulation results of a case study of Ship YULONG are given to demonstrate the effectiveness and robustness of the proposed scheme.

Collision risk assessment based on the vulnerability of marine accidents using fuzzy logic

Hu, Yancai,Park, Gyei-Kark The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.-

Based on the trend, there have been numerous researches analysing the ship collision risk. However, in this scope, the navigational conditions and external environment are ignored or incompletely considered in training or/and real situation. It has been identified as a significant limitation in the navigational collision risk assessment. Therefore, a novel algorithm of the ship navigational collision risk solving system has been proposed based on basic collision risk and vulnerabilities of marine accidents. The vulnerability can increase the possibility of marine collision accidents. The factors of vulnerabilities including bad weather, tidal currents, accidents prone area, traffic congestion, operator fatigue and fishing boat operating area are involved in the fuzzy reasoning engines to evaluate the navigational conditions and environment. Fuzzy logic is employed to reason basic collision risk using Distance to Closest Point of Approach (DCPA) and Time of Closest Point of Approach (TCPA) and the degree of vulnerability in the specific coastal waterways. Analytical Hierarchy Process (AHP) method is used to obtain the integration of vulnerabilities. In this paper, vulnerability factors have been proposed to improve the collision risk assessment especially for non-SOLAS ships such as coastal operating ships and fishing vessels in practice. Simulation is implemented to validate the practicability of the designed navigational collision risk solving system.

Collision risk assessment based on the vulnerability of marine accidents using fuzzy logic

Hu, Yancai,Park, Gyei-Kark The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.1

Based on the trend, there have been numerous researches analysing the ship collision risk. However, in this scope, the navigational conditions and external environment are ignored or incompletely considered in training or/and real situation. It has been identified as a significant limitation in the navigational collision risk assessment. Therefore, a novel algorithm of the ship navigational collision risk solving system has been proposed based on basic collision risk and vulnerabilities of marine accidents. The vulnerability can increase the possibility of marine collision accidents. The factors of vulnerabilities including bad weather, tidal currents, accidents prone area, traffic congestion, operator fatigue and fishing boat operating area are involved in the fuzzy reasoning engines to evaluate the navigational conditions and environment. Fuzzy logic is employed to reason basic collision risk using Distance to Closest Point of Approach (DCPA) and Time of Closest Point of Approach (TCPA) and the degree of vulnerability in the specific coastal waterways. Analytical Hierarchy Process (AHP) method is used to obtain the integration of vulnerabilities. In this paper, vulnerability factors have been proposed to improve the collision risk assessment especially for non-SOLAS ships such as coastal operating ships and fishing vessels in practice. Simulation is implemented to validate the practicability of the designed navigational collision risk solving system.

Design of Course-Keeping Controller for a Ship Based on Backstepping and Neural Networks

Qiang ZHANG,Na JIANG,Yancai HU,Dewei PAN 국제이네비해양경제학회 2017 International Journal of e-Navigation and Maritime Vol.7 No.1

Due to the existence of uncertainties and the unknown time variant environmental disturbances for ship course nonlinear control system, the ship course adaptive neural network robust course-keeping controller is designed by combining the backstepping technique. The neural networks (NNs) are employed for the compensating of the nonlinear term of the nonlinear ship course-keeping control system. The designed adaptive laws are designed to estimate the weights of NNs and the bounds of unknown environmental disturbances. The first order commander are introduced to solve the problem of repeating differential operations in the traditional backstepping design method, which let the designed controller easier to implement in navigation practice and structure simplicity. Theoretically, it indicates that the proposed controller can track the setting course in arbitrary expected accuracy, while keeping all control signals in the ship course control closed-loop system are uniformly ultimately bounded. Finally, the training ship of Dalian Maritime University is taken for example; simulation results illustrated the effectiveness and the robustness of the proposed controller.

Building of an Algorithm to Generate Ship’s Collision Risk based on Accident Vulnerability under Bad Weather using Fuzzy Logic

Gi-Jong Jo(조기정),Yancai Hu(호연재),Gyei-Kark Park(박계각),Taeho Hong(홍태호) 한국지능시스템학회 2018 한국지능시스템학회논문지 Vol.28 No.4

There have been many studies to analyze the ship collision risk of navigation. However, most papers mainly solve the navigation collision risk using DCPA (Distance to Closest Point Approach) and TCPA (Time to Closest Point Approach). There are limitations for being lack of considering the traffic weather conditions around the ships. In this paper, we propose a novel algorithm to solve the ship’s collision risk based on vulnerability, where DCPA, TCPA and bad weather environment are combined using fuzzy logic for e-Navigation. and its validity is shown with some experiments.

Study on Port Strategy of Shandong Peninsula Based on Game Theory

Yating Zhang,Thi Minh Hoang Do,Yancai Hu 국제이네비해양경제학회 2021 International Journal of e-Navigation and Maritime Vol.16 No.1

This paper seeks to enable the port of Shandong Peninsula to better handle the relationship between competition and cooperation and thus achieve common development. Based on an analysis of the current development of Shandong Peninsula ports, the paper proposes a port competition and cooperation strategy based on a Bertrand game. According to the game model, an income matrix of Qingdao Port and Rizhao Port, Yantai Port and Weihai Port is established and an analysis the income of each port under different strategic combinations is conducted to determine the strategy that is most conducive to the development of the ports. At the same time, we consider the instability of cooperation and establish a certain cooperation mechanism. Finally, an example is used to verify the effectiveness of the proposed port development strategy for Shandong Peninsula.

Design of Marine Search and Rescue Route Based on an Ant Colony System Algorithm

Xiangfei Meng,Zhongxu Liu,Suyu Zhang,Yancai Hu 국제이네비해양경제학회 2021 International Journal of e-Navigation and Maritime Vol.17 No.1

With the development of the global marine transportation industry, marine accidents frequently occur due to the complex and changeable climate environment, and maritime search and rescue work has thus received much attention. To improve marine search and rescue operations, an algorithm for environmental modeling and search path optimization based on an ant colony system is proposed. First, MAKLINK is selected to build an ecological model. Secondly, the relevant parameters of the ant colony system algorithm are established, and the search and rescue route is designed. Finally, simulations of the environmental model and route design are constructed in search and rescue waters in Zhoushan, Zhejiang Province, using MATLAB. Experimental results prove the validity of this algorithm.