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COLREGs Compliant Fuzzy-based Collision Avoidance System for Multiple Ship Encounters

Lookup NU author(s): Dr Mohammed Abdul Hannan



This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0).


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 analyzed 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.

Publication metadata

Author(s): Ahmed YA, Hannan MA, Oraby MY, Maimun A

Publication type: Article

Publication status: Published

Journal: Journal of Marine Science and Engineering

Year: 2021

Volume: 9

Issue: 8

Online publication date: 22/07/2021

Acceptance date: 16/07/2021

Date deposited: 19/07/2022

ISSN (electronic): 2077-1312

Publisher: MDPI


DOI: 10.3390/jmse9080790


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