Trans RINA, Vol 161, Part A4, Intl J Maritime Eng, Oct-Dec 2019
performance than the Distributed Local Search Algorithm (DLSA) (developed by Kim et al, 2014) and the Distributed Tabu Search Algorithm (DTSA) (developed by Kim et al., 2015).Wang et al. (2018a) has developed a yaw-guided method to accurate trajectory tracking control problem of an asymmetric underactuated surface vehicle to overcome both complex uncertainties and underactuations. In the study, a finite-time uncertainty observers-based yaw-guided tracking control scheme has been developed and the experimental tests have revealed that the scheme provides remarkable performance. Wang et al. (2018b) has also proposed a fuzzy based scheme for
Table 1. Comparison of the recent studies. Reference Method
COLREGs, 1972
Tsou and Hsueh, 2010
Lisowski, 2012
Naeem et al., 2012
Nguyen et al., 2012
Tam and Bucknall, 2013
Xu, 2014
Zhang et al., 2015
Wei et al., 2015
Lazarowska, 2015
Johansen et al., 2016
Lazarowska, 2017
Kim et al., 2017
The method proposed in this study
regulation ACO
course alteration/ speed change
course alteration
game theory course alteration/ speed change
A*, line-of-sight BFO
course alteration
course alteration
deterministic course alteration
danger immune algorithm
linear extension algorithm
CSBA ACO
course alteration
course alteration/ speed change
course alteration
course alteration
deterministic course alteration/ speed change
deterministic course alteration/ speed change
DSSA WBDA
course alteration
course alteration
the same problem and has achieved reliable consequences from the simulation tests.
To sum up, Table 1 provides the major features and comparison of the recent studies. The studies have been evaluated in accordance with the eight characteristics: the method used to reach solution, action type to avoid collision, ship domain type used for calculation and which ship is surrounded, expression of ship domain, problem solving capability in complex environments, consideration of dynamic and static obstacles and compliance to the COLREGs.
Action Type Domain Type n/a
circular (around the OS)
polygonal (around obstacle)
circular (around obstacle)
polygonal (around obstacle)
circular (around the OS)
circular (around the OS)
circular (around the OS)
circular (n/a)
polygonal (around obstacle)
circular (around the OS)
Polygonal (around obstacle)
circular (around the OS)
circular (around the OS)
Expression of Domain
Complex Env.
safe distance no
safety domain no ship domain yes
safety zone
domain of interest
yes
ship domain yes yes
ship domain no ship domain yes
safety distance no ship domain yes safe distance no
ship domain yes
safety domain yes ship domain no
Static Obstacle
no
no no
yes yes yes
no no no
yes no
yes no yes
Dynamic Obstacle
yes
yes yes
yes yes yes
yes yes
yes yes yes
yes
yes yes
COLREGs Compliance
-
yes yes
yes yes yes
yes yes
yes yes yes
yes
yes yes
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©2019: The Royal Institution of Naval Architects
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