Journal of Dalian Maritime University >
2021 , Vol. 47 >Issue 2: 26 - 34
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2021.02.004
Collision avoidance algorithm of unmanned surface vehicle based on target interference intent recognition
Received date: 2020-12-15
Revised date: 2021-03-05
Online published: 2021-03-05
In order to accurately identify the obstacles interference intention in the process of collision avoidance planning for unmanned surface vehicle (USV), the classification algorithm based on principal component analysis (PCA) and support vector machine (SVM) was proposed. Firstly, PCA was used to reduce the dimension of the highdimensional motion feature data set of ship model motion to obtain the principal components of the feature set. Then, SVM was used to classify the low dimensional principal components, so as to identify whether the interference intention type of obstacles to the UAV is active interference or non active interference. Finally, according to the different interference types of obstacles, different algorithms were used to avoid collision and escape. Through this differential processing, the safety of the USV was improved. The simulation results verify the effectiveness of the algorithm.
MAO yun-sheng , PENG wei , XIANG zu-quan , SONG li-fei , LIU meng-xue . Collision avoidance algorithm of unmanned surface vehicle based on target interference intent recognition[J]. Journal of Dalian Maritime University, 2021 , 47(2) : 26 -34 . DOI: 10.16411/j.cnki.issn1006-7736.2021.02.004
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