Autonomous harbor tug formation control system

The presented research concerns an innovative method of route planning for autonomous port tugs using an evolutionary algorithm with a radar-based fitness assessment method. Compared to the classical approach, the proposed solution shows significant advantages in terms of optimizing navigation routes. Tests conducted in four different operational scenarios have shown that the algorithm generates routes characterized by a smaller number of turn points (reduction by one to two points), significant minimization of the total course change (up to 66.15% in the fourth scenario), and an increased safety margin with respect to obstacles, while maintaining a comparable total route length (differences from −3.05% to +5.26%). The algorithm demonstrated particularly high efficiency in complex navigation scenarios, where, despite a larger number of constraints, it effectively generated safer routes. The publication presents an innovative method for improving the evolutionary algorithm, which is a promising solution in the context of the development of autonomous navigation and which provides a basis for further work toward implementation in real conditions and integration with future e-navigation systems.