A Guidance and Maneuvering Control System Design With Anti-Collision Using Stream Functions With Vortex Flows for Autonomous Marine Vessels

Autonomous marine vessels are expected to avoid intervessel collisions and comply with the international regulations for safe voyages. This article presents a stepwise path planning method using stream functions. The dynamic flow of fluids is used as guidance model, where collision avoidance in static environments achieved by applying circular theorem sink flow. We extend this adding vortex flows field. function recursively updated enable “on fly” waypoint decisions. vessel avoids also complies several rules convention on International Regulations Preventing Collisions at Sea. conceptually computationally simple convenient tune yet versatile handle complex dense traffic multiple obstacles. ship dynamics taken into account, Bézier curves generate sufficiently smooth feasible curvature. Numerical simulations conducted verify proposed method.