USV compliant obstacle avoidance based on dynamic two ship domains

Abstract

Aiming at the problem that unmanned surface vehicle (USV) is easy to collide with each other in dynamic environment, a flexible obstacle avoidance path planning algorithm based on dynamic two ship domains is proposed. Firstly, a dynamic two ship collision risk model based on the information of encounter vessels is established, and the type of rendezvous situation is determined on the basis of the model. Secondly, according to different rendezvous situation types, the COLREGs rules are analyzed to select the avoidance action, and a virtual circular repulsion potential field is designed for the avoidance action to guide the USV to avoid obstacles flexibly. Meanwhile, the velocity elliptical repulsion potential field is constructed for emergency avoidance under the close dangerous emergency state. Finally, simulation examples of different traffic scenarios are given to verify the effectiveness and practicability of the scheme.