A Study on Ship Collision Avoidance Algorithm by COLREG

국제해상충돌예방규칙에 따른 충돌회피 알고리즘에 관한 연구

Kim, Dong-Gyun;Jeong, Jung-Sik;Park, Gyei-Kark

  • Received : 2011.03.19
  • Accepted : 2011.04.27
  • Published : 2011.06.25


On the basis of DCPA(Distance to Closest Point of Approach) and TCPA(Time to CPA), the conventional algorithms for collision avoidances have a drawback that the '72 CORLEGs(International Regulations for Preventing Collisions at Sea, 1972) has not taken into account to prevent collisions between ships. In this paper, the proposed algorithm decides whether the own ship is a give-way vessel or a stand-on vessel by observing the relative bearing of the encountered ship. To determine the ship position and time for collision avoidance, the proposed algorithm utilizes the ellipse model for ship safety domain. The computer simulation is done to represent the process of adversive behavior. Using the proposed method, the past maritime accident is analyzed. The proposed method can be effectively applied to collision avoidance by CORLEGs even when the target ship's navigational lights is invisible in poor weather and/or in the restricted visibility.


DCPA;TCPA;'72 COLREGs;Navigational light;COLREG


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