2 research outputs found
A Modest Numerical Simulation for Automatic Ship Collision Avoidance System to Support Green and Autonomous Shipping Concept
The development of autonomous ship is being pursued massively and significantly, either industrially, regulatory, or academic. The autonomous ship is considered to be able to significantly reduce challenges caused by unexpected errors of manual navigation (manned ship). One of the challenges for autonomous ship development is constructing an automatic ship collision avoidance system as a basic system for identifying and avoiding an obstacle object around the ship. The collision avoidance system must consider not only the position of the ship and the obstacle but also the maneuvering characteristic (ship dynamics) and control system of the ship, thereby making its numerical system more complex. This research presents a modest numerical simulation for designing an automatic ship collision avoidance system. However, the numerical model still considers the main necessary elements of the system. The numerical model includes a set of automatic guidance system, collision avoidance system, ship dynamics, and control system. Head on head, overtaking, and crossing collision scenarios are performed to investigate the numerical model. The simulation results show that the modest numerical simulation can be used to perform an automatic ship collision avoidance system in which the ship can automatically avoid a target ship considered as the ship’s obstacle in those three collision scenarios
Pengembangan Program Numerical Simulation Untuk Collision Avoidance Di Daerah Pelabuhan Tanjung Perak Surabaya
Wilayah lautan di Indonesia sangat luas, sehingga dibutuhkan banyak pelabuhan sebagai tempat pemberhentian transportasi lautan, yaitu kapal. Dengan banyaknya pelabuhan, maka kecelakan kapal tidak dapat dihindari. Menurut data Komisi Nasional Keselamatan Transportasi (KNKT), pada tahun 2016 hingga 2019 telah terjadi kasus kecelakaan kapal sebanyak 8 kasus yang diakibatkan oleh tabrakan yang terjadi di Pelabuhan di Indonesia dan belum teramasuk yang tercatat. Maka dari permasalahan tersebut dibuatlah sebuah simulasi collision avoidance yang dirancang untuk mengembangkan sebuah alat yang berguna dalam collision avoidance. Perancangan didasarkan pada penerapan prinsip panduan waypoint dengan Line of Sight (LOS) dan menerapan sebuah metode Time to the Closest Point Approach (TCPA) sebagai dasar simulasi collision avoidance. Dibuatlah pemodelan dinamika kapal otomatis yang menggunakan metode pendekatan matematika Nomoto orde II, dan pemodelan propellar dengan menggunakan metode Horigome, Hara, Hotta, dan Hotsu. Selain itu untuk mengembangkan sebuah simulasi collision avoidance dilakukan pengembangan fuzzy logic yang memiliki nilai masukan berupa kondisi kapal, dan waktu tempuh kapal, serta nilai keluaran pertambahan heading angle kapal dengan rentan optimal (-35) – 35 derajat. Berdasarkan hasil simulasi collision avoidance dengan 4 skenario, yaitu head on haed dengan kapal diam , head on head dengan kapal bergerak, overtaking, dan crosing didapatkan hasil perbandingan nilai rudder angle, heading angle, dan perubahan posisi terbesar dengan simulasi tanpa collision avoidance. Hasil perbandingan simulasi nilai head on head dengan kapal diam untuk rudder angle sebesar 0,15 derajat pada detik ke 0,1, heading angle sebesar 134,288 derajat pada detik ke 50, dan perubahan posisi sebesar 11,732 di sumbu x pada detik ke 50. Simulasi head on head dengan kapal bergerak untuk rudder angle sebesar 0,076 derajat pada detik ke 55,05, heading angle sebesar -59,1 derajat pada detik ke 51,3, dan perubahan posisi sebesar 31,77 di sumbu y pada detik ke 40. Simulasi overtaking untuk rudder angle sebesar 0,085 derajat pada detik ke 69,9, heading angle sebesar 63,5 derajat pada detik ke 63,5, dan perubahan posisi sebesar 28,7 di sumbu y pada detik ke 50. Simulasi overtaking untuk rudder angle sebesar -0,075 derajat pada detik ke 70, heading angle sebesar 2,27 derajat pada detik ke 66, dan perubahan posisi sebesar 14,12 di sumbu y pada detik ke 60.
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The ocean area in Indonesia is very wide, so many ports are needed as a stop for ocean transportation, namely ships. With so many ports, ship accidents are unavoidable. According to data from the Komisi Nasional Keselamatan Transportasi (KNKT), from 2016 to 2019 there have been 8 cases of ship accidents caused by collisions that occurred at ports in Indonesia and have not been recorded. So from this problem, a collision avoidance simulation was made which is designed to develop a tool that is useful in collision avoidance. The design is based on the application of waypoint guiding principles with Line of Sight (LOS) and applies a Time to the Closest Point Approach (TCPA) method as the basis for simulation of collision avoidance. Automatic ship dynamics modeling was made using Nomoto's second order mathematical approach, and propeller modeling using Horigome, Hara, Hotta, and Hotsu methods. In addition, to develop a collision avoidance simulation, fuzzy logic is developed which has input values in the form of ship conditions, and ship travel time, as well as an additional output value of ship heading angle with optimal vulnerability (-35) – 35 degrees. Based on the results of the collision avoidance simulation with 4 scenarios, namely head on haed with a stationary ship, head on head with a moving ship, overtaking, and crossing the results obtained by comparing the largest values of rudder angle, heading angle, and the change in position with simulations without collision avoidance. The results of the comparison of the simulation value of the head on head with a stationary ship for a rudder angle of 0.15 degrees at 0.1 seconds, a heading angle of 134.288 degrees at 50 seconds, and a change in position of 11.732 on the x-axis at 50 seconds. Head simulation on head with the ship moving for a rudder angle of 0.076 degrees at 55.05 seconds, a heading angle of -59.1 degrees at 51.3 seconds, and a change in position of 31.77 on the y-axis at 40 seconds. Overtaking simulation for rudder angle of 0.085 degrees at 69.9 seconds, heading angle of 63.5 degrees at 63.5 seconds, and a change in position of 28.7 on the y-axis at 50 seconds. Simulation of overtaking for rudder angle of -0.075 degrees at the 70th second, the heading angle by 2.27 degrees at 66 second, and a change in position of 14.12 on the y-axis at 60second