Fuzzy logic and unmanned surface vehicles : Implementing collision avoidance in Python
Aura, Emil (2018)
Aura, Emil
Åbo Akademi
2018
Julkaisu on tekijänoikeussäännösten alainen. Teosta voi lukea ja tulostaa henkilökohtaista käyttöä varten. Käyttö kaupallisiin tarkoituksiin on kielletty.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2018082734177
https://urn.fi/URN:NBN:fi-fe2018082734177
Tiivistelmä
Autonomous vessels could potentially lower the costs of maritime shipping,
by reducing the operating costs and increasing the safety. However, one
of the greater challenges in the pursuit of completely autonomous and unmanned
vessels lies in the development of algorithms capable of making decisions
as safe and efficient as human operators. The purpose of this thesis is
to evaluate the use of fuzzy logic in a COLREGS compliant collision avoidance
algorithm, for unmanned surface vessels. A python implementation
utilizing a fuzzy logic inference system is developed and tested in simultations
of maritime scenarios involving multiple vessels.
Results show the algorithm capable of avoiding collisions, although further
work is needed to make the algorithm truly COLREGS compliant and
the decisions more holistic
by reducing the operating costs and increasing the safety. However, one
of the greater challenges in the pursuit of completely autonomous and unmanned
vessels lies in the development of algorithms capable of making decisions
as safe and efficient as human operators. The purpose of this thesis is
to evaluate the use of fuzzy logic in a COLREGS compliant collision avoidance
algorithm, for unmanned surface vessels. A python implementation
utilizing a fuzzy logic inference system is developed and tested in simultations
of maritime scenarios involving multiple vessels.
Results show the algorithm capable of avoiding collisions, although further
work is needed to make the algorithm truly COLREGS compliant and
the decisions more holistic