As the number of ships for marine transportation increases with the advancement of global trade, encountering multiple ships in marine traffic becomes common. This situation raises the risk of collision of the ships; hence, this paper proposes a novel Fuzzy-logic based intelligent conflict detection and resolution algorithm, where the collision courses and possible avoiding actions are analysed by considering ship motion dynamics and the input and output fuzzy membership functions are derived. As a conflict detection module, the Collision Risk (CR) is measured for each ship by using a scaled nondimensional Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) as inputs. Afterwards, the decisions for collision avoidance are made based on the calculated CR, encountering angle and relative angle of each ship measured from others. In this regard, the rules for the Fuzzy interface system are defined in accordance with the COLREGs, and the whole system is implemented on the MATLAB Simulink platform. In addition, to deal with the multiple ship encounters, the paper proposes a unique maximum-course and minimum-speed change approach for decision making, which has been found to be efficient to solve Imazu problems, and other complicated multiple-ship encounters.

中文翻译：

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符合 COLREG 标准的基于模糊的多船相遇避碰系统

随着全球贸易的推进，海上运输的船舶数量不断增加，在海上交通中遇到多艘船舶变得普遍。这种情况增加了船舶碰撞的风险；因此，本文提出了一种新的基于模糊逻辑的智能冲突检测和解决算法，通过考虑船舶运动动力学分析碰撞过程和可能的避让动作，并推导出输入和输出模糊隶属函数。作为冲突检测模块，每艘船的碰撞风险 (CR) 是通过使用到最近接近点 ( DCPA )的缩放无量纲距离 ( DCPA ) 和到最近接近点 ( TCPA ) 的时间来测量的) 作为输入。之后，根据计算出的 CR、每艘船的相遇角度和相对角度来做出避免碰撞的决定。对此，根据COLREGs定义了Fuzzy接口系统的规则，整个系统在MATLAB Simulink平台上实现。此外，为了处理多船相遇，本文提出了一种独特的最大航向和最小速度变化方法进行决策，已被证明可以有效解决今津问题和其他复杂的多船相遇问题。