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Towards the Autonomy: Control Systems for the Ship in Confined and Open Waters. SENSORS 2021; 21:s21072286. [PMID: 33805239 PMCID: PMC8037258 DOI: 10.3390/s21072286] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/08/2021] [Revised: 03/16/2021] [Accepted: 03/22/2021] [Indexed: 12/12/2022]
Abstract
The concept of the Marine Autonomous Surface Ship (MASS) requires new solutions in many areas: from law, through economics, social sciences, environmental issues to the technology and even ethics. It also plays a central role in the work of numerous research teams dealing with the ship motion control systems. This article presents the results of the experiments with application of the selected control methods in automatic steering of the movement of an autonomous ship in the two regimes: during the maneuvers at low speed (in a harbor confined waters) and during the lake trials in open water conditions. In the first case, multidimensional state controller synthesized with Linear Matrix Inequalities (LMI) algorithms was used, while, in the second case, Model Predictive Control (MPC) control was adopted. The object for which the experiments were carried out was 1:24 scale model of the Liquefied Natural Gas (LNG) carrier. The paper presents also the design of the measurement and control system and the user interface. The experiments were conducted in the natural conditions on the lake. The results of the experiments indicate the fundamental role of the measurement system in the process of controlling an autonomous ship.
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Remote Sensing in Vessel Detection and Navigation. SENSORS 2020; 20:s20205841. [PMID: 33076456 PMCID: PMC7602646 DOI: 10.3390/s20205841] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Subscribe] [Scholar Register] [Received: 10/10/2020] [Accepted: 10/12/2020] [Indexed: 02/07/2023]
Abstract
The Special Issue (SI) “Remote Sensing in Vessel Detection and Navigation” highlighted a variety of topics related to remote sensing with navigational sensors. The sequence of articles included in this Special Issue is in line with the latest scientific trends. The latest developments in science, including artificial intelligence, were used. The 15 papers (from 23 submitted) were published.
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Xu J, Jia B, Pan X, Li R, Cao L, Cui C, Wang H, Li B. Hydrographic data inspection and disaster monitoring using shipborne radar small range images with electronic navigation chart. PeerJ Comput Sci 2020; 6:e290. [PMID: 33816941 PMCID: PMC7924651 DOI: 10.7717/peerj-cs.290] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/05/2020] [Accepted: 07/15/2020] [Indexed: 06/12/2023]
Abstract
Shipborne radars cannot only enable navigation and collision avoidance but also play an important role in the fields of hydrographic data inspection and disaster monitoring. In this paper, target extraction methods for oil films, ships and coastlines from original shipborne radar images are proposed. First, the shipborne radar video images are acquired by a signal acquisition card. Second, based on remote sensing image processing technology, the radar images are preprocessed, and the contours of the targets are extracted. Then, the targets identified in the radar images are integrated into an electronic navigation chart (ENC) by a geographic information system. The experiments show that the proposed target segmentation methods of shipborne radar images are effective. Using the geometric feature information of the targets identified in the shipborne radar images, information matching between radar images and ENC can be realized for hydrographic data inspection and disaster monitoring.
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Affiliation(s)
- Jin Xu
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
- Navigation College, Dalian Martime University, Dalian, Liaoning, China
| | - Baozhu Jia
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
| | - Xinxiang Pan
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
- Marine Engineering College, Dalian Maritime University, Dalian, Liaoning, China
| | - Ronghui Li
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
| | - Liang Cao
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
| | - Can Cui
- Civil Aviation College, Shenyang Aerospace University, Shenyang, Liaoning, China
| | - Haixia Wang
- Navigation College, Dalian Martime University, Dalian, Liaoning, China
| | - Bo Li
- Maritime College, Guangdong Ocean University, Zhanjiang, Guangdong, China
- Laboratory Department, Liaoning Hydrogeology and Engineering Geology Reconnaissance Institute, Dalian, China
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Beam Search Algorithm for Anti-Collision Trajectory Planning for Many-to-Many Encounter Situations with Autonomous Surface Vehicles. SENSORS 2020; 20:s20154115. [PMID: 32722065 PMCID: PMC7435611 DOI: 10.3390/s20154115] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/22/2020] [Revised: 07/20/2020] [Accepted: 07/20/2020] [Indexed: 11/17/2022]
Abstract
A single anti-collision trajectory generation problem for an “own” vessel only is significantly different from the challenge of generating a whole set of safe trajectories for multi-surface vehicle encounter situations in the open sea. Effective solutions for such problems are needed these days, as we are entering the era of autonomous ships. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations. The proposed original multi-surface vehicle beam search algorithm (MBSA), based on the beam search strategy, solves the problem. The general idea of the MBSA involves the application of a solution for one-to-many encounter situations (using the beam search algorithm, BSA), which was tested on real automated radar plotting aid (ARPA) and automatic identification system (AIS) data. The test results for the MBSA were from simulated data, which are discussed in the final part. The article specifies the problem of anti-collision trajectory planning in many-to-many encounter situations involving moving autonomous surface vehicles, excluding Collision Regulations (COLREGs) and vehicle dynamics.
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Beam Search Algorithm for Ship Anti-Collision Trajectory Planning. SENSORS 2019; 19:s19245338. [PMID: 31817086 PMCID: PMC6960978 DOI: 10.3390/s19245338] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/31/2019] [Revised: 11/29/2019] [Accepted: 12/02/2019] [Indexed: 02/06/2023]
Abstract
The biggest challenges in the maritime environment are accidents and excessive fuel consumption. In order to improve the safety of navigation at sea and to reduce fuel consumption, the strategy of anti-collision, shortest trajectory planning is proposed. The strategy described in this paper is based on the beam search method. The beam search algorithm (BSA) takes into account many safe trajectories for the present ship and chooses the best in terms of length and other criteria. The risk of collision of present ship with any target ships is detected when the closest point of approach (CPA) of the present ship is violated by the target ship's planned trajectory. Only course alteration of the present ship is applied, and not speed alteration. The algorithm has been implemented in the decision support system NAVDEC and tested in a real navigation environment on the m/f Wolin, a Polish ferry. Almost all BSA trajectories calculated were shorter in comparison to the standard NAVDEC-calculated algorithm.
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