A MATLAB-Based Simulation for Autonomous Navigation of ... - IJME

1. MFX 1 – This M-file controls the ship’s diversion in path. It comprises of the fuzzy logicalgorithm for the “evalmf’ function. This is the control system that provides the logicnecessary for the vessel to deviate from its path to the M-file Ship.m.2. ALFAX – This M-file calculates the angle, α, in radians as well as the X and Ycoordinates required to calculate α. This angle, α, is the angle in the vector triangle madeby the vectors between position and target for both X and Y coordinates.3. SHIP – Taking into consideration the logic provided by MFX1 M-file and the rudderangle calculated by ALFAX, this M-file determines the next position of the ship. Thismeans that the rudder angle ‘alfa’ (α), and the position vector (X, Y) are considered toget the next position (X1,Y1). The SHIP M-file is shown in figure 4.Figure 4: SHIP M-file4. SELECT_PATH – This is the M-file for the user to decipher between the two kinds ofobstacles available.5. PATH2, PATH4 – These are the main M-files that contain the user interface and theplotting functions. These files also calculate the time elapsed within the journey fromOrigin to Target. The PATH2 M-file contains a different variety of formations ofobstacles from which the user can select one. With PATH4 file, the user is able to choosethe number of obstacles and their locations on the grid. The user interface from PATH4file is shown in Figure 5.Proceedings of The 2006 IJME – INTERTECH Conference