Abstract
In this article, a ship manoeuvrability-based simulation for ship navigation in collision situations is established. Under the general requirement from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) and good seamanship, the determination of encounter situations is quantified to reduce navigators’ intervention. Meanwhile, the action manner by course alteration or changing speed in some typical encounter situations is graphically analysed for both the give-way and stand-on vessels. Then, the multiple genetic algorithm and linear extension algorithm are adopted to perform trajectory planning for collision avoidance. To improve the reliability of the simulation system, the mathematical model of ship motion and ship manoeuvring control mechanism are adopted, which can eliminate the insufficiency of neglect of ship manoeuvrability in the process of collision avoidance. Meanwhile, the course encoding technique is adopted to fit the ship manoeuvring control mechanism. Finally, a set of traffic scenarios emulating different encounter situations are applied to demonstrate the effectiveness, consistency, and practicality of this system.
Highlights
With the recent growing interest in the ocean for civilian and military applications, there has been increasing demand for the autonomy of unmanned surface vehicles (USVs)
Szlapczynski [6] presented the evolutionary sets of safe trajectories (ESoSST) to obtain a set of trajectories of all the ships instead of just one ship; Tam [7] determined priority based on the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) [11] and ship manoeuvrability, standardized the evasive turning angle for all vessels to 30◦, and determined the linear extension after the evasive manoeuvre; Tsou [8] integrated a geographic information system (GIS) module to conduct obstacle avoidance processing and selection of a route; Sun [12] established a collision avoidance system based on finite control set model predictive control (FCS-MPC); and Lv [13] adopted a modified Artificial Potential Field (APF) to realize real-time and deterministic path planning
The ship domain is treated as circle, and the collision risk borrows the concept of ship domain by comparing the distance to the closest point of approach (DCPA) with the radius of ship domain Ds, whose radius is a statistical result in the open sea [24]
Summary
With the recent growing interest in the ocean for civilian and military applications, there has been increasing demand for the autonomy of unmanned surface vehicles (USVs). Szlapczynski [6] presented the evolutionary sets of safe trajectories (ESoSST) to obtain a set of trajectories of all the ships instead of just one ship; Tam [7] determined priority based on the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) [11] and ship manoeuvrability, standardized the evasive turning angle for all vessels to 30◦, and determined the linear extension after the evasive manoeuvre; Tsou [8] integrated a geographic information system (GIS) module to conduct obstacle avoidance processing and selection of a route; Sun [12] established a collision avoidance system based on finite control set model predictive control (FCS-MPC); and Lv [13] adopted a modified Artificial Potential Field (APF) to realize real-time and deterministic path planning Among these results, the simulation for ship navigation could be a powerful tool for operational planning and design studies of waterways [14].
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