Abstract
An improved genetic collision avoidance algorithm is proposed in this study to address the problem that Autonomous Surface Vehicles (ASV) need to comply with the collision avoidance rules at sea in congested sea areas. Firstly, a collision risk index model for ASV safe encounters is established taking into account the international rules for collision avoidance. The ASV collision risk index and the distance of safe encounters are taken as boundary values of the correlation membership function of the collision risk index model to calculate the optimal heading of ASV in real-time. Secondly, the genetic coding, fitness function, and basic parameters of the genetic algorithm are designed to construct the collision avoidance decision system. Finally, the simulation of collision avoidance between ASV and several obstacle vessels is performed, including the simulation of three collision avoidance states head-on situation, crossing situation, and overtaking situation. The results show that the proposed intelligent genetic algorithm considering the rules of collision avoidance at sea can effectively avoid multiple other vessels in different situations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
