The International Journal of Fuzzy Logic and Intelligent Systems

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Fig. 10.

Simulation results for an encounter situation with multiple obstacle vessels based on MPC-PSO. (a) Full trajectory plot of the ASV and each obstacle vessel. (b) Trajectory plot up to the point where the distance between the ASV and each obstacle vessel are the closest. (c) The course offset angle χca and the propulsion P of the ASV for collision avoidance. (d) Actual course command χ of the ASV.

International Journal of Fuzzy Logic and Intelligent Systems 2021;21:378~390 https://doi.org/10.5391/IJFIS.2021.21.4.378
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