Abstract
In response to the urgent need for quantitative evaluation of the obstacle avoidance performance of an unmanned ship, a quantitative evaluation model is established to evaluate quantitatively the obstacle perception performance, static obstacle avoidance performance and dynamic obstacle avoidance performance of an unmanned ship. The base data for calculating are derived from the shore-based database; the evaluation factor layer is evaluated by the cost function method. Based on the established evaluation model, the quantitative evaluation score of the obstacle perception performance of the unmanned ship is obtained by data analysis for the 50 to 100 m buoy and 100 m island obstacle perception test. The quantitative evaluation score of the static obstacle avoidance performance obtained by testing the performance of a single obstacle, continuous obstacle and inflection obstacle is 68.8 points. For buoys as dynamic obstacles, the dynamic obstacle avoidance performance quantitative evaluation score of 64.13 points is obtained by testing the performance of obstacle avoidance in chasing, facing and crossing encounters. The analysis of the test data saved to the database verify the rationality of the quantitative evaluation model, which can provide reference for the quantitative evaluation and improvement of the unmanned ship’s obstacle avoidance performance.
Highlights
Marine operation equipment is gradually developing in the direction of unmanned operation, and unmanned surface vehicles (USVs) have become one of the research hot spots in marine operation equipment [1]
Establishing a test system for the obstacle avoidance performance of the unmanned ship based on experimental data, and formulating corresponding technical indicators to quantitatively evaluate the navigation of the unmanned ship, the performance of control, path planning, path tracking, and autonomous obstacle avoidance are the most intuitive basis for evaluating the autonomous navigation performance of unmanned ships [2]
By analyzing the evaluation index, the obstacle avoidance performance of the unmanned ship is evaluated in layers
Summary
Marine operation equipment is gradually developing in the direction of unmanned operation, and unmanned surface vehicles (USVs) have become one of the research hot spots in marine operation equipment [1]. The obstacle avoidance performance of the unmanned ship is one of the most direct and comprehensive performances of its autonomous navigation. Hyo-Gon Kim et al proposed a collision avoidance algorithm for unmanned ships based on the International Regulations for Preventing Collisions at Sea (COLREGS) and verified the degree of compliance between the algorithm and COLREGS [3]. Hu et al established a multi-ship real-time collision risk analysis system based on the overall requirements of COLREGS and based on five factors affecting collision avoidance risk [4]. Yaseen Adnan Ahmed et al proposed a new intelligent collision detection and resolution algorithm based on fuzzy logic. The fuzzy membership functions of input and output are deduced, and a decision-making method of minimum speed and maximum heading change is proposed, which can effectively solve the problem of complex multi-ship
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