The design of fuzzy collision-avoidance expert system implemented by H∞-autopilot

Cheng Neng Hwang, Joe-Ming Yang, Chung Yen Chiang

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


Collision avoidance is one of the urgent topics on ship voyage at sea. Experts' experience is still essential when a ship is in the danger of colliding with the others nowadays although a lot of electronic voyage supported apparatuses have been equipped on ships. To include these experts' experiences to resolve the problems of collision, we design a fuzzy collision-avoidance expert system that includes a knowledge base to store facts and rules, an inference engine to simulate experts' decision and a fuzzy interface device. Either a quartermaster or an autopilot system can then implement the avoidance action proposed in the research. To perform the ship task of collision-avoidance effectively, a robust autopilot system that is based on the state space H∞ control methodology is designed to steer a ship safely for various outer surroundings at sea in performing course keeping, course-changing and route-tracking more robustly. The integration of fuzzy collision-avoidance and H∞ autopilot systems is then proposed in this paper.

Original languageEnglish
Pages (from-to)25-37
Number of pages13
JournalJournal of Marine Science and Technology
Issue number1
Publication statusPublished - 2001 Dec 1

All Science Journal Classification (ASJC) codes

  • Oceanography
  • Ocean Engineering
  • Mechanics of Materials
  • Mechanical Engineering


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