Multi-obstacle intelligent collision avoidance strategy for unmanned surface vehicle

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Journal of Dalian Maritime University ›› 2015, Vol. 41 ›› Issue (4) : 8-13.

MAO Yun-sheng^*a,b,SONG Li-fei ^a,b, XIANG Zu-quan ^a,b, ZHOU Yong-qing^a,b, MAO Pu-xiu ^a, YAN Zhao^a,b

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Abstract

To take the Convention on the International Regulations for Preventing Collisions at Sea（COLREGS）into account in planning for obstacle avoidance of unmanned surface vehicle(USV), this paper presented the rule of eccentric expansion accord with COLREGS. To reduce the ship collision occurrence and achieve multiship collision avoidance in broad areas, a fuzzy programming method based on urgency, security and feasibility of planning was put forward. Example simulation consists of multiship including different collision situation, which shows the intelligence of the proposed method.

Key words

unmanned surface vehicle(USV) / multi-ship obstacle / intelligent collision avoidance / Convention on the International Regulations for Preventing Collisions at Sea(COLREGS)

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MAO Yun-sheng*a,b,SONG Li-fei,XIANG Zu-quan,ZHOU Yong-qing,MAO Pu-xiu,YAN Zhao. Multi-obstacle intelligent collision avoidance strategy for unmanned surface vehicle[J]. Journal of Dalian Maritime University. 2015, 41(4): 8-13

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