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A proposed mathematical model has been constructed to avoid both fixed and moving obstacles encountered on the ship's route. The mathematical model includes the manoeuvring model, MMG (Manoeuvring Modeling Group), and controller parts, MPC (Model Predictive Control), and PD controllers, separately. First, the turning and zigzag tests have been performed to validate the mathematical model. Especially, the turning test results are crucial since they are used as data in the control algorithm. The distance between the controlled ship and the obstacles is calculated in a time interval and the rudder is commanded according to these results. Second, a course including moving and fixed obstacles is determined for the case study. Finally, the path-following simulations for the determined course have been obtained thanks to the controllers. As a result, the ship reached the target coordinates without any collision and the fuel consumption differed depending on the controller selection.

The effect of controller selection in collision avoidance system on fuel consumption for unmanned surface vessel: a case study