Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.

Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles

Ship collision avoidance methods : State-of-the-art

A real-time collision avoidance learning system for Unmanned Surface Vessels

Collision avoidance for an unmanned surface vehicle using deep reinforcement learning

Abstract : A series of constant-deadrise models, varying in length, was tested in smooth water and regular waves to define the effects of deadrise, trim, loading, speed, length-beam ratio, and wave proportions on the added resistance, on heave and pitch motions, and on impact accelerations at the bow and center of gravity. Each of these parameters was varied independently of the others so as to obtain a proper evaluation of the effects of changing a single quantity. The results, presented in the form of response characteristics, cover a wide range of operating conditions; and show, quantitatively, the importance of design parameters on the rough-water performance of planing hulls.

A systematic study of the rough water performance of planing boats. Part II: Irregular waves

A study on the collision avoidance of a ship using neural networks and fuzzy logic

Preliminary tests of a damaged ship for CFD validation

Design of the roll stabilization controller, using fin stabilizers and pod propellers

One of the most critical issues for ship owners, shipbuilders, and insurance companies is the operational safety. In particular, keeping damaged ships stable in waves is of great interest, because more nonconventional hull forms are being introduced for military and passenger vessels while international rules and regulations are becoming stricter. However, ship stability for damaged ships is quite different from that for intact ships as the assessment is very complicated and difficult due to the highly nonlinear behavior. Computational fluid dynamics (CFD) methods that solve the Navier–Stokes equations are acknowledged as the only viable approach to simulate and analyze these complex physical phenomena. Although there have been a number of research activities reported on damaged ship stability recently, most of them are not designed to validate CFD studies. For a data set to be valuable for CFD validation and development, model tests should eliminate unclear factors as much as possible. The main objective of this study is to establish an experimental database for CFD validation by collecting data from towing tank tests of a ship hull's six degree-of-freedom (6DOF) motion responses in regular waves for both intact and damaged conditions. A mooring system was designed to prevent drift motions of the ship model. Parametric roll was not observed when the ship was damaged, although it was observed for the intact ship in the same wave conditions. The mooring force acting on the ship model due to spring tension was also calculated.

Key-Pyo Rhee

Papers

A study on the collision avoidance of a ship using neural networks and fuzzy logic

Preliminary tests of a damaged ship for CFD validation

Design of the roll stabilization controller, using fin stabilizers and pod propellers

Experimental Study on the Six Degree-of-Freedom Motions of a Damaged Ship Floating in Regular Waves

Hydrodynamic characteristics of X-Twisted rudder for large container carriers