کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
715437 892203 2010 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
An Automatic Collision Detection and Avoidance Module for Inland Navigation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
An Automatic Collision Detection and Avoidance Module for Inland Navigation
چکیده انگلیسی

Based on the positional data of other inland vessels which is available through the fusion of radar object tracking and AIS (Automatic Identification System) a model-based prediction of their kinematic states is presented. Information about the river shape is fed into the prediction model according to the type of vessel and its navigational situation. Together with the future states of our own vessel, which are known because it is automatically steared along a guiding line, ranges of encounter are calculated. Furthermore, a path planning algorithm based on nonlinear dynamic optimization is presented that is capable of calculating collision-free paths in real-time that account for the vessel's constrained dynamics. Practical results of the discussed automatic collision detection and avoidance module as part of an integrated navigation system for inland vessels are shown concluding the contribution.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 43, Issue 20, September 2010, Pages 254–259
نویسندگان
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