DESCRIZIONE
A method of controlling a propulsion system (20) on a marine vessel (10) includes receiving proximity measurements (90) describing locations of one or more objects (O) with respect to the marine vessel (10), receiving a command vector Js⇀. [Image Omitted] instructing magnitude and direction for propulsion of the marine vessel (10) with respect to a point of navigation (Pn) for the marine vessel (10), and then determining a funnel boundary (150) based on the command vector Js⇀. [Image Omitted] An object (O) is identified based on the proximity measurements (90) and determined to be within the funnel boundary (150), and then a propulsion adjustment command Lf⇀ [Image Omitted] is calculated based on the command vector Js⇀ [Image Omitted] and an angle of the object (θMIO) with respect to the point of navigation (Pn). At least one propulsion device (12a, 12b) is then controlled based on the propulsion adjustment command Lf⇀ [Image Omitted] in order to avoid the object (O). [Image Omitted]