Autonomous guidance and navigation based on the COLREGs rules and regulations of collision avoidance

The initial step of the AGN system, which made the foundation for applied control engineering, was formulated around 1860 to 1930 with the invention of the first automatic ship steering mechanism by Sperry (1922). Sperry’s work was based on replication of the actions of an experienced helmsman that was formulated as a single input single output system (SISO).