A novel deterministic search-based algorithm for multi-ship collaborative collision avoidance decision-making

Abstract

Ship collision avoidance is critical to maritime safety, but maritime traffic patterns are becoming increasingly complex as the number of vessels of all types increases. Therefore, how to improve the collision avoidance effectiveness and efficiency of two ships and multiple ships is crucial. This study proposes a comprehensive collaborative collision avoidance framework that takes into account both safety and economic factors. By analyzing ship navigation characteristics, we formulate a new collision avoidance cost function that covers navigation safety and economic benefits. Furthermore, in accordance with the COLREGS guidelines, this paper adopts a deterministic search algorithm to calculate collision avoidance trajectories involving two or more vessels, and uses a proportional integral differential (PID) algorithm to adjust ship maneuvering based on the derived collision avoidance decisions. In parallel, we conducted extensive simulation studies to evaluate encounter scenarios involving two and multiple vessels. Results show that the proposed collaborative collision avoidance framework ensures regulatory compliance and also improves navigation safety and economic efficiency. This algorithm has important reference value for ship operators to formulate and implement effective collision avoidance strategies.