Path planning combined with Fuzzy control for autonomous ships

This paper is linked to a research proposing autonomous ships for risky humanitarian operations, like sea demining or poisonous spill recovery on the sea. This mission is based upon placing waypoints and the autonomous ships are under a Fuzzy control. Since ships have limited turning radii, a specific path planning strategy is developed, so the ship trajectory turns around waypoints at a suitable distance. The system is being tested with scaled ships.