Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight

doi:10.1007/s12204-016-1726-z

Abstract

Abstract: The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results.

Key words: ship collision avoidance| deliberative collision avoidance| architecture| visual simulation

摘要： The purpose of this study is to realize the intelligent deliberative obstacle avoidance for unmanned surface vehicle (USV), based on the International Regulations for Preventing Collisions at Sea called COLREGS. Firstly, a three-level system architecture is designed for the ship intelligent collision avoidance system. Secondly, an intelligent collision avoidance algorithm is presented based on the calculation of motion parameters and the rules of COLREGS. Thirdly, according to COLREGS, the marine environment is modeled from the electronic chart data and radar information, and a deliberative collision avoidance algorithm is written. Finally, the deliberative collision avoidance simulation is carried out for the USV. The feasibility and reliability of intelligent collision avoidance algorithm are verified by the vivid simulation results.

关键词: ship collision avoidance| deliberative collision avoidance| architecture| visual simulation

CLC Number:

WU Gongxing* (吴恭兴), SHI Danda (史丹达), GUO Jiamin (郭佳民). Deliberative Collision Avoidance for Unmanned Surface Vehicle Based on the Directional Weight[J]. Journal of shanghai Jiaotong University (Science), 2016, 21(3): 307-312.

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