Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Automatic Ship Collision Avoidance Algorithm based on Probabilistic Velocity Obstacle with Consideration of COLREGs

국제해상충돌예방규칙을 고려한 확률적 속도 장애물 기반의 선박 충돌회피 알고리즘

  • Received : 2018.08.14
  • Accepted : 2018.11.11
  • Published : 2019.02.20
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Abstract

This study presents an automatic collision avoidance algorithm for autonomous navigation of unmanned surface vessels. The performance of the collision avoidance algorithm is heavily dependent on the estimation quality of the course and speed of traffic ships because collision avoidance maneuvers should be determined based on the predicted motions of the traffic ships and their trajectory uncertainties. In this study, the collision avoidance algorithm is implemented based on the Probabilistic Velocity Obstacle (PVO) approach considering the maritime collision regulations (COLREGs). In order to demonstrate the performance of the proposed algorithm, an extensive set of simulations was conducted and the results are discussed.

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References

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