AUTOMATIC COLLISION AVOIDANCE WITH MULTIPLE TARGETS, INCLUDING MANEUVERING ONES

Abstract

Context. There is considered the task of automatic collision avoidance with multiple targets, including maneuvering ones. Theobject of the research is the process of automatic collision avoidance with multiple targets, including maneuvering ones. The subject of research is the method and algorithms that implement the process of automatic collision avoidance from multiple targets, including maneuvering ones.Objective. The purpose of the article is development a method and algorithms for automatic collision avoidance from multipletargets, including maneuvering ones, for the module of the onboard controller of the ship control system.Method. This goal is achieved by periodically measuring the true speed of the vessel and relative speeds of the vessel andtargets, averaging the measured information to remove noise, estimating the true speeds of the targets, building, for the obtained estimates of the true speeds of the targets, areas of allowable collision avoidance controls with each targets by numerical iteration of the collision avoidance parameters (speed and course) at the nodes of a given grid in the area of their possible changes, determining the relative speeds at the nodes of the grid ship and target movement and checking that the relative speeds don’t belong to sectors of dangerous courses, building a general area of acceptable collision avoidance controls with all targets by combining areas of allowable collision avoidance controls with each target, choosing collision avoidance parameters from the general area of acceptable collision avoidance controls according to specified criteria. This allows to diverge from multiple targets, including maneuvering ones, in a fully automatic mode. Changing the criteria for selecting discrepancy parameters leads to a change in the ship’s behavior in case of discrepancy without changing the program code.Results. The developed method and algorithms are implemented in software and investigated by solving the problem of collisionavoidance from multiple targets, including maneuvering ones, in a fully automatic mode in a closed circuit with the simulator NaviTrainer 5000 for various types of ships, targets, navigation areas and weather conditions.Conclusions. The experiments confirmed the performance of the proposed method and algorithms and allow to recommend themfor practical use in the development of modules for automatic collision avoidance with multiple targets, including maneuvering ones, of the onboard controller of the ship control system.