船艇智能航行学习小组

出版物

以下列表仅保留作者、题目、期刊（或会议）、年份及外部链接。

数据来源：Google Scholar・Chenguang Liu

期刊论文 (Journal Papers)

2025

  1. Zhang G, Cao Q, Li J, et al.. Robust composite event-triggered control for heterogeneous ships: Application to an auto-detecting operation. ISA Transactions, 2025.
  2. K. Li, C. Liu, X. Chu, Z. He and H. Chen. Advanced Prediction of Container Vessels Arrival Time at Hong Kong Port in 2023: A Comparative Analysis. 2025 IEEE 5th International Conference on Computer Communication and Artificial Intelligence (CCAI), Haikou, China, 2025, pp. 825-832.
  3. N. Li, C. Liu, Z. He, K. Li, J. Liu and X. Chu. Collision Avoidance for Group Targets Based on Clustering Velocity Obstacle Algorithm. 2025 IEEE 5th International Conference on Computer Communication and Artificial Intelligence (CCAI), Haikou, China, 2025, pp. 748-754.
  4. H. Wang, C. Liu, W. Wu, W. Yan, B. Liu and X. Chu. Multistage Vessel Berthing Position and Attitude Planning Based on Improved RRT* Algorithm. 2025 IEEE 5th International Conference on Computer Communication and Artificial Intelligence (CCAI), Haikou, China, 2025, pp. 690-696.
  5. Z. He, C. Liu, R. Yan, X. Chu. A novel arena-based collision avoidance behavior analysis method for autonomous ships. Ocean Engineering 339, 122056, 2025.
  6. M. Li, X. Zhao, Y. Jiao, C. Liu, X. Chu, J. Mou. Research on the risk of submarine cable damage from anchored ships based on probability analysis. Reliability Engineering & System Safety 261, 111114, 2025.
  7. W. Wu, C. Liu, X. Chu, W. Mao. Multiple sensor fault-tolerant predictive control for autonomous surface vehicle formation. ISA Transactions, 2025.
  8. L. Lai, C. Liu, Z. He, M. Li, Z. Fu, X. Chu. A novel waterway navigability assessment method based on encounter safety analysis of ship autonomous navigation. Ocean Engineering 332, 121388, 2025.
  9. M. Li, T. Xu, T. Zou, C. Liu, M. Zheng, X. Chu, X. Yan. Research on optimal design of human-machine interaction interface of remote navigation and control ships. Journal of Traffic and Transportation Engineering 25(3), 304-316, 2025.
  10. H. Zheng, C. Liu. Towards Unmanned Surface Vehicles: Methods and Practices. CRC Press, 2025.
  11. H. Zheng, C. Liu. An overview of Unmanned Surface Vehicles: Methods and Practices. Control Engineering Practice 164, 106479, 2025.
  12. M. Li, T. Xu, T. Zou, C. Liu, M. Zheng, X. Chu, X. Yan. Experimental research on remote navigation and control technology for inland waterway ships. Journal of Traffic and Transportation Engineering 25(2), 141-155, 2025.
  13. Z. He, W. Yan, C. Liu, X. Chu, X. Liu. High-precision berthing and unberthing ship positioning method by fusing LiDAR and inertial navigation system. Chinese Journal of Ship Research, 2025.
  14. J. Lan, M. Zheng, X. Chu, C. Liu, Y. Wu. Ship Position and Attitude Sensing Method Based on Lidar. Geomatics & Information Science of Wuhan University 50(4), 782-791, 2025.

2024

  1. D. Zhang, X. Chu, C. Liu, Z. He, P. Zhang, W. Wu. A review on motion prediction for intelligent ship navigation. Journal of Marine Science and Engineering 12(1), 107, 2024.
  2. W. Wu, C. Liu, X. Chu, D. Zhang, Z. He, M. Zheng. A novel ship short-term speed prediction method under the influence of currents. Ocean Engineering 304, 117847, 2024.
  3. T. Li, C. Liu, W. Wu, H. Zheng, J. Li, X. Chu. Event-triggered predictive path following control of autonomous ships with an MMG model. Ocean Engineering 314, 119582, 2024.
  4. K. Zhang, C. Liu, Z. He, H. Chen, Q. Xiang, X. Chu. Optimization of sailing speed for inland electric ships based on an improved multi-objective particle swarm optimization (MOPSO) algorithm. Journal of Marine Science and Engineering 12(8), 1417, 2024.
  5. Z. He, C. Liu, X. Chu, W. Wu, M. Zheng, D. Zhang. Dynamic domain-based collision avoidance system for autonomous ships: Real experiments in coastal waters. Expert Systems with Applications 255, 124805, 2024.
  6. H. Zheng, J. Li, Z. Tian, C. Liu, W. Wu. Hybrid physics-learning model based predictive control for trajectory tracking of unmanned surface vehicles. IEEE Transactions on Intelligent Transportation Systems 25(9), 11522-11533, 2024.
  7. C. Liu, K. Zhang, Z. He, L. Lai, X. Chu. Clustering Theta* based segmented path planning method for vessels in inland waterways. Ocean Engineering 309, 118249, 2024.
  8. H. Zhou, M. Zheng, X. Chu, C. Liu, C. Zhong. Scenario modeling method for collision avoidance testing in inland waterway. Ocean Engineering 298, 117192, 2024.
  9. J. Lan, M. Zheng, X. Chu, C. Liu, S. Ding. A ship high-precision positioning method in the lock chamber based on LiDAR. Ocean Engineering 306, 118033, 2024.
  10. J. Lei, Z. Chu, Y. Wu, X. Liu, M. Luo, W. He, C. Liu. Predicting vessel arrival times on inland waterways: A tree-based stacking approach. Ocean Engineering 294, 116838, 2024.
  11. C. Liu, W. Mao, J. Liu, X. Chu. Intelligent Ships and Waterways: Design, Operation and Advanced Technology. Journal of Marine Science and Engineering 12(9), 1614, 2024.

2023

  1. Z. He, X. Chu, C. Liu, W. Wu. A novel model predictive artificial potential field based ship motion planning method considering COLREGs for complex encounter scenarios. ISA Transactions 134, 58-73, 2023.
  2. H. Zheng, J. Zhu, C. Liu, H. Dai. Regulation aware dynamic path planning for intelligent ships with uncertain velocity obstacles. Ocean Engineering 278, 114401, 2023.
  3. D. Zhang, X. Chu, W. Wu, Z. He, Z. Wang, C. Liu. Model identification of ship turning maneuver and extreme short-term trajectory prediction under the influence of sea currents. Ocean Engineering 278, 114367, 2023.
  4. Z. Wang, Y. Wu, X. Chu, C. Liu, M. Zheng. Risk identification method for ship navigation in the complex waterways via consideration of ship domain. Journal of Marine Science and Engineering 11(12), 2265, 2023.
  5. J. Liu, X. Yan, C. Liu, A. Fan, F. Ma. Developments and applications of green and intelligent inland vessels in China. Journal of Marine Science and Engineering 11(2), 318, 2023.
  6. X. Chu, W. Wu, C. Liu, L. Lei, Z. He. Survey of ship platoon cooperative control. Chinese Journal of Ship Research 18(1), 13-28, 2023.

2022

  1. Z. He, C. Liu, X. Chu, R.R. Negenborn, Q. Wu. Dynamic anti-collision A-star algorithm for multi-ship encounter situations. Applied Ocean Research 118, 102995, 2022.
  2. C. Liu, X. Chu, W. Wu, S. Li, Z. He, M. Zheng, H. Zhou, Z. Li. Human–machine cooperation research for navigation of maritime autonomous surface ships: A review and consideration. Ocean Engineering 246, 110555, 2022.
  3. S. Li, C. Liu, X. Chu, M. Zheng, Z. Wang, J. Kan. Ship maneuverability modeling and numerical prediction using CFD with body force propeller. Ocean Engineering 264, 112454, 2022.
  4. W. Wu, X. Chu, C. Liu, H. Zheng, Z. He. Predictive longitudinal following control for ship platoon considering diesel engine driven propeller reversal. Ocean Engineering 263, 112231, 2022.
  5. C. Liu, Z. He, X. Chu, M. Zheng, W. He. Overview on ship formation control. Journal of Traffic and Transportation Engineering 22(4), 10-27, 2022.
  6. C. Liu, J. Guo, W. Yong, C. Xiumin, W. Wenxiang, L. Chaofan. 3D LiDAR based real-time object recognition system for unmanned surface vehicles. Journal of Mechanical Engineering 58(4), 202-211, 2022.

2021

  1. C. Liu, H. Zheng, R. Negenborn, X. Chu. Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels. Asian Journal of Control 23(1), 432-448, 2021.
  2. X. Chu, M. Zheng, J. Qi, C. Liu. Cooperative ship formation system and control methods in the ship lock waterway. Ocean Engineering 226, 108826, 2021.
  3. W. Wu, X. Chu, C. Liu, W. Mao. A coordinated control method of longitudinal ship speed based on model predictive control. Journal of Transport Information and Safety 39(1), 52-63, 2021.

2020

  1. S. Xie, X. Chu, M. Zheng, C. Liu. A composite learning method for multi-ship collision avoidance based on reinforcement learning and inverse control. Neurocomputing 411, 375-392, 2020.
  2. S. Xie, X. Chu, C. Liu, J. Liu, J. Mou. Parameter identification of ship motion model based on multi-innovation methods. Journal of Marine Science and Technology 25(1), 162-184, 2020.
  3. C. Liu, X. Chu, Q. Mao, S. Xie. Adaptive path following control system for unmanned surface vehicles. Journal of Mechanical Engineering 56(8), 216-227, 2020.

2019

  1. C. Liu, Q. Mao, X. Chu, S. Xie. An improved A-star algorithm considering water current, traffic separation and berthing for vessel path planning. Applied Sciences 9(6), 1057, 2019.
  2. S. Xie, X. Chu, M. Zheng, C. Liu. Ship predictive collision avoidance method based on an improved beetle antennae search algorithm. Ocean Engineering 192, 106542, 2019.

2018

  1. C. Liu, R.R. Negenborn, X. Chu, H. Zheng. Predictive path following based on adaptive line-of-sight for underactuated autonomous surface vessels. Journal of Marine Science and Technology 23(3), 483-494, 2018.

2017

  1. C. Liu, R.R. Negenborn, H. Zheng, X. Chu. A state-compensation extended state observer for model predictive control. European Journal of Control 36, 1-9, 2017.

2016

  1. X. Yan, C. Liu. Review and prospect for intelligent waterway transportation system. CAAI Transactions on Intelligent Systems 11(6), 807-817, 2016.
  2. C.G. Liu, X.M. Chu, S. Xie, X. Yan. Review and prospect of ship intelligence. Ship Engineering 38(3), 77-84, 2016.

2014

  1. C. Liu, X. Chu, Q. Wu, G. Wang. A review and prospect of USV research. Ship Building of China 55(4), 194-205, 2014.

2019

  1. C. Liu, Q. Mao, X. Chu, S. Xie. An improved A-star algorithm considering water current, traffic separation and berthing for vessel path planning. Applied Sciences 9(6), 1057, 2019.
  2. S. Xie, X. Chu, M. Zheng, C. Liu. Ship predictive collision avoidance method based on an improved beetle antennae search algorithm. Ocean Engineering 192, 106542, 2019.
  3. S. Xie, X. Chu, C. Liu, M. Zheng. Marine diesel engine speed control based on adaptive state-compensate extended state observer-backstepping method. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2019.

2018

  1. C. Liu, R.R. Negenborn, X. Chu, H. Zheng. Predictive path following based on adaptive line-of-sight for underactuated autonomous surface vessels. Journal of Marine Science and Technology 23(3), 483-494, 2018.
  2. S. Xie, D. Chen, X. Chu, C. Liu. Identification of ship response model based on improved multi-innovation extended Kalman filter. Journal of Harbin Engineering University 39(2), 282-289, 2018.
  3. S. Xie, X. Chu, C. Liu, Q. Wu. 基于改进 LSSVM 的船舶操纵运动模型在线参数辨识方法. 中国造船 59(2), 178-189, 2018.
  4. G. Wang, S. Xie, C. Liu, X. Chu, Z. Li. Obstacle identification method based on laser radar for inland unmanned vessel. Guangxue Jishu/opt Tech 44(5), 602-608, 2018.

2017

  1. C. Liu, R.R. Negenborn, H. Zheng, X. Chu. A state-compensation extended state observer for model predictive control. European Journal of Control 36, 1-9, 2017.
  2. S. Xie, X. Chu, C. Liu, Q. Wu. Parameter identification of ship maneuvering response model based on multi-innovation least squares algorithm. Navigation of China 40(1), 73-78, 2017.
  3. L. Wang, Q. Wu, C. Liu, S. Xie, X. Chu. Design method of USV course-tracker based on simulation and real vessel experiment. 4th International Conference on Transportation Information and Safety, 2017.

2016

  1. X. Yan, C. Liu. Review and prospect for intelligent waterway transportation system. CAAI Transactions on Intelligent Systems 11(6), 807-817, 2016.
  2. C.G. Liu, X.M. Chu, S. Xie, X. Yan. Review and prospect of ship intelligence. Ship Engineering 38(3), 77-84, 2016.
  3. S. Xie, X. Chu, C. Liu, Q. Wu. A review and prospect of ship intelligent collision avoidance system. Journal of Transport Information and Safety, 1-9, 2016.
  4. Q. Wu, L. Wang, C. Liu, X. Chu. 基于 MPC 的无人船运动控制及可视化仿真系统实现. 武汉理工大学学报: 交通科学与工程版 40(2), 245-250, 2016.
  5. C. Liu, X. Chu, O. Xueli, S. Xie. 欠驱动水面模型船航向保持控制仿真平台. 中国航海 39(4), 1-5, 2016.
  6. S. Xie, C. Liu, X. Chu, Q. Wu. 基于混合式体系结构的无人船控制系统设计. 船海工程 45(3), 39-42, 2016.

2015

  1. C. Liu, H. Zheng, R. R. Negenborn, X. Chu. Trajectory tracking control for underactuated surface vessels based on nonlinear model predictive control. Computational Logistics (ICCL), 166-180, 2015.
  2. C. Liu, X. Chu, S. Xie, L. Wang. Multi-target locating method of surface ship based on monocular vision. Journal of Traffic and Transportation Engineering 15(5), 91-100, 2015.
  3. L. Wang, X. Chu, C. Liu. Different drive models of USV under the wind and waves disturbances MPC trajectory tracking simulation research. 2015 International Conference on Transportation Information and Safety, 2015.
  4. W. He, J. Xiong, M. Liu, X. Chu, C. Liu, L. Shi, L. Wang. Technology of information collection and analysis about steering operation behavior of inland waterway sailing ship. Journal of Coastal Research, 483-489, 2015.
  5. L. Shi, X. Chu, C. Liu. 基于船岸一体化的江海直达船舶在航动态监控系统构建. 船海工程 44(3), 114-118, 2015.
  6. S. Xie, C. Liu, X. Chu, X. Ouyang. A Positioning System Based on Monocular Vision for Model Ship. International Conference on Computational Logistics, 209-221, 2015.
  7. C. Liu, W. He, L. Shi, X. Chu. A Method of Remote Transmission on Oily Water Separator Status of Underway Ship Based on AIS. Journal of Transport Information and Safety, 124-131, 2015.
  8. Z. Chen, C. Liu, L. Shi, W. He, X. Chu. Implementation of inland marine oil water separator remote supervisor system with AIS. Journal of Transport Information and Safety, 114-118, 2014.

2014

  1. C. Liu, X. Chu, Q. Wu, G. Wang. A review and prospect of USV research. Ship Building of China 55(4), 194-205, 2014.
  2. W. He, E. Wang, X. Liu, C. Liu. A survey of Simulation Tools for Waterway Designing Assessment. The Open Automation and Control Systems Journal 6(1), 2014.
  3. W. He, C. Liu, L. Shi, X. Chu. 渔业生产安全保障远程管理系统. 武汉工程大学学报 36(11), 63-69, 2014.
  4. F. Ma, X. Chu, C. Liu. PER Estimation of AIS in inland rivers based on three dimensional ray tracking. 2014.
  5. C. Liu, R.R. Negenborn, F. Ma, X. Chu, H. Zheng. Towards an experimental platform for inland waterway ship navigation. Proceedings of the 11th IEEE International Conference on Networking, Sensing and Control, 2014.
  6. C. Liu. 船舶油水分离器运行状态远程监控系统的设计与实现. 武汉理工大学, 2014.
  7. C. Liu, X. Chu, F. Ma, L. Kun, X. Yan. 内河在航液货船综合信息通用采集终端开发. 航海技术, 39-42, 2014.

2013

  1. F. Ma, X. Chu, C. Liu. The error distinguishing of automatic identification system based on improved evidence similarity. ICTIS 2013: Improving Multimodal Transportation Systems-Information, Safety, 2013.
  2. F. Ma, X. Chu, C. Liu. ERROR DISTINGUISH OF AIS BASED ON EVIDENCE COMBINATION. Journal of Theoretical & Applied Information Technology 45(1), 2012.
  3. A. Fan, Q. Yin, Z. Mao, C. Liu. Assessment Mode for Enhancing the Objectivity of Scoring of Marine Engineer Actual Operation Assessment. ICTIS 2013: Improving Multimodal Transportation Systems-Information, Safety, 2013.
  4. Q. Yin, C. Zhou, Z. Mao, C. Liu, J. Wan. Design of Remote Monitoring System for Inland Water Tanker Hold Based on AIS. ICTIS 2013: Improving Multimodal Transportation Systems-Information, Safety, 2013.
  5. T. Li, X. Chu, Z. Donghua, C. Liu. 基于长江电子航道图的航线动态生成算法及实现. 航海技术, 36-39, 2013.
  6. C. Liu, Q. Yin, J. Wan, X. Chu, X. Yan. Measurement and Calculation of Dirty Oil Amount in Bilge Water Treated by Oily Water Separator. ICTIS 2013: Improving Multimodal Transportation Systems-Information, Safety, 2013.

2012

  1. Q. Yin, K. Li, C. Zhou, C. Liu, X. Chu, J. Zheng. Research on oil spill monitoring experiments based on OFD-1 oil film detector. 2012 2nd International Conference on Remote Sensing, Environment and, 2012.

会议论文 (Conference Papers)

2025

  1. Jiteng Liu, Huimin Chen, Chenguang Liu, Zhibo He. Multi-Objective Bi-Level Rescue Task Planning Strategy for Unmanned Surface Vehicles with Dynamic Adjustment Mechanism. 2025 IEEE 5th International Conference on Computer Communication and Artificial Intelligence (CCAI).

2024

  1. T. Tao, C. Liu, Z. He, X. Chu, M. Li, S. Li. Numerical Simulation System of Navigation Control with Human-Machine Cooperation for Maritime Autonomous Surface Ships. 10th International Conference on Electrical Engineering, Control and Robotics, 2024.

2023

  1. K. Zhang, C. Liu, Z. He, X. Chu, L. Lai, P. Zhang. A novel vessel route optimization algorithm based on segmented A-star algorithm in inland waterways. 7th International Conference on Transportation Information and Safety, 2023.
  2. T. Li, C. Liu, G. Hou, W. Wu, Y. Wu, X. Chu. Robust model predictive ship heading control with event-triggered strategy. 7th International Conference on Transportation Information and Safety, 2023.

2022

  1. C. Lei, X. Chu, C. Liu, W. Wu, S. Li. Predictive controller of cooperative docking for ship platoon in lock waterway. China Mechanical Engineering 33(4), 2022.

2021

  1. S. Li, X. Chu, C. Liu, Z. He, C. Lei, W. Wu. Ship motion mathematical model in the ship lock waterway. 6th International Conference on Transportation Information and Safety, 2021.
  2. W. Wu, X. Chu, C. Liu, S. Li, C. Lei. Predictive ship longitudinal following control considering diesel engine propulsion. 6th International Conference on Transportation Information and Safety, 2021.

2019

  1. S. Xie, X. Chu, C. Liu, M. Zheng. Marine diesel engine speed control based on adaptive state-compensate extended state observer-backstepping method. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2019.

2018

  1. S. Xie, D. Chen, X. Chu, C. Liu. Identification of ship response model based on improved multi-innovation extended Kalman filter. Journal of Harbin Engineering University 39(2), 282-289, 2018.

2017

  1. S. Xie, X. Chu, C. Liu, Q. Wu. Parameter identification of ship maneuvering response model based on multi-innovation least squares algorithm. Navigation of China 40(1), 73-78, 2017.

研究方向与成果

船舶运动控制

模型预测控制、轨迹跟踪、欠驱动船舶控制

路径规划

A*算法改进、多船避碰、COLREGs约束规划

编队控制

多船协同、船闸通航、智能航运系统

强化学习

多船避碰决策、复合学习方法、人机协作

合作机构

与荷兰代尔夫特理工大学、新加坡南洋理工大学等国际知名高校保持长期合作关系。