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.
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Authors:
- He, Yixiong
- Li, Zhaoran
- Mou, Junmin
- Hu, Weixuan
- Li, Liling
- Wang, Bing
- Publication Date: 2021-6
Language
- English
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: pp 103-113
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Serial:
- Transportation Safety and Environment
- Volume: 3
- Issue Number: 2
- Publisher: Oxford University Press
- EISSN: 2631-4428
- Serial URL: https://academic.oup.com/tse
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Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Automatic vessel control; Autonomous vehicles; Crash avoidance systems; Maneuverability; Ships; Trajectory control
- Identifier Terms: International Regulations for Preventing Collisions at Sea (COLREGS)
- Subject Areas: Marine Transportation; Operations and Traffic Management; Vehicles and Equipment;
Filing Info
- Accession Number: 01849693
- Record Type: Publication
- Files: TRIS
- Created Date: Jun 24 2022 5:07PM