Otonom su üstü araçları için COLREG kurallarını içeren çarpışma önleyici sistem

The proposed mathematical model in this study consists of two parts, one is the maneuvering model, called MMG (Mathematical Model Group), and other a control algorithm based on traditional PD system. used to compute ship's characteristics, ship can safely reach target coordinates with help if it encounters any obstacles along way. Because suitable hydrodynamic coefficients Esso Osaka, evaluated using trial test data from Osaka. Firstly, characteristics were determined by performing turning zigzag tests for different velocity ship. By comparing results obtained suggested was verified. Secondly, route coordinate. Thirdly, new automatically assuming that there an obstacle between starting point coordinate previous simulation. As result, created thanks virtual accordance COLREGs rules. Since characteristic values are included written algorithm, directly affects determination coordinates. Therefore, very important find accurate characteristics. Evaluating simulation concluded safe has been Osaka Moreover, reaches without collision.