A guidance and maneuvering control system design with anti-collision using stream functions with vortex flows for autonomous marine vessels

@article{Zhou2022AGA,
  title={A guidance and maneuvering control system design with anti-collision using stream functions with vortex flows for autonomous marine vessels},
  author={Hongyu Zhou and Zhengru Ren and Mathias Marley and Roger Skjetne},
  journal={ArXiv},
  year={2022},
  volume={abs/2106.02405}
}
—Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids is used as a guidance model, where the collision avoidance in static environments is achieved by applying the circular theorem in the sink flow. We extend this method to dynamic environments by adding vortex flows in the flow field. The stream function is… 

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