Abstract
A novel collision avoidance (CA) algorithm was proposed based on the modified artificial potential field (APF) method, to construct a practical ship automatic CA system. Considering the constraints of both the International Regulations for Preventing Collisions at Sea (COLREGS) and the motion characteristics of the ship, the multi-ship CA algorithm was realized by modifying the repulsive force model in the APF method. Furthermore, the distance from the closest point of approach-time to the closest point of approach (DCPA-TCPA) criterion was selected as the unique adjustable parameter from the perspective of navigation practice. Collaborative CA experiments were designed and conducted to validate the proposed algorithm. The results of the experiments revealed that the actual DCPA and TCPA agree well with the parameter setup that keeps the ship at a safe distance from other ships in complex encountering situations. Consequently, the algorithm proposed in this study can achieve efficient automatic CA with minimal parameter settings. Moreover, the navigators can easily accept and comprehend the adjustable parameters, enabling the algorithm to satisfy the demand of the engineering applications.
Highlights
The automatic collision avoidance (CA) of maritime autonomous surface ships (MASS)is highly complex and uncertain
This study investigates the multi-ship CA algorithm under the constraint of COLREGS and the motion of the ship by modifying the repulsive force model in the artificial potential field (APF) method and considering the DCPA–TCPA criterion as the unique adjustable parameter from the perspective of navigation practices
Eng. 2011, 38, 2290–2305, This study innovatively introduced the DCPA–TCPA criterion as the unique CA parameter into the improved APF method, and solved the problems associated with the use of numerous, undefined CA parameters that are difficult for navigators to comprehend and accept
Summary
The automatic collision avoidance (CA) of maritime autonomous surface ships (MASS)is highly complex and uncertain. When considering the motion of the ship, the International Regulations for Preventing Collisions at Sea (COLREGS), and the restricted water areas, the automatic CA and path planning of ship are important challenges [1,2]. The APF-based approach established a virtual potential field near the navigating area of MASS. The attraction between MASS and the goal, repulsions between MASS and obstacles, and repulsions between MASS and other ships were comprehensively studied. The sum of these potential fields determines the resultant virtual force to guide the motion of the MASS [2]. Because the APF controller is easy to construct, intuitive, effective for handling static and dynamic constraints [4], and can obtain an ideal effect on the CA and obstacle avoidance of MASS, the APF-based approach has been widely applied to the intelligent ship CA system in open and restricted waters
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