Collision-Avoidance path planning for multi-ship encounters considering ship manoeuvrability and COLREGs

Ship collision prevention has always been a hot topic of research for navigation safety. Recently, autonomous ships have gained much attention as a means of solving collision problems by machine control with a collision-Avoidance algorithm. An important question is how to determine optimal path planning for autonomous ships. This paper proposes a path-planning method of collision avoidance for multi-ship encounters that is easy to realize for autonomous ships. The ship course-control system uses fuzzy adaptive proportion-integral-derivative (PID) control to achieve real-Time control of the system. The automatic course-altering process of the ship is predicted by combining the ship-motion model and PID controller. According to the COLREGs, ships should take different actions in different encounter situations. Therefore, a scene-identification model is established to identify these situations. To avoid all the TSs, the applicable course-altering range of the OS is obtained by using the improved velocity obstacle model. The optimal path of collision avoidance can be determined from an applicable course-altering range combined with a scene-identification model. Then, the path planning of collision avoidance is realized in the multi-ship environment, and the simulation results show a good effect. The method conforms to navigation practice and provides an effective method for the study of collision avoidance.

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  • Supplemental Notes:
    • © 2021 Yixiong He et al. Published by Oxford University Press on behalf of Central South University Press.
  • Authors:
    • He, Yixiong
    • Li, Zhaoran
    • Mou, Junmin
    • Hu, Weixuan
    • Li, Liling
    • Wang, Bing
  • Publication Date: 2021-6

Language

  • English

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  • Accession Number: 01849693
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Jun 24 2022 5:07PM