Collision avoidance planning for unmanned surface vehicle based on eccentric expansion

Abstract

The International Regulations for Preventing Collisions at Sea (COLREGS) specify certain navigation rules for ships at risk for collision. Theoretically, the safety of unmanned surface vehicles and traffic boats would be guaranteed when they comply with the COLREGS. However, if traffic boats do not comply with the demands of the convention, thereby increasing the danger level, then adhering to the COLREGS may be dangerous for the unmanned surface vehicle. In this article, a dynamic obstacle avoidance algorithm for unmanned surface vehicles based on eccentric expansion was developed. This algorithm is used to solve the possible failure of collision avoidance when the unmanned surface vehicle invariably obeys the COLREGS during the avoidance process. An obstacle avoidance model based on the velocity obstacle method was established. Thereafter, an eccentric expansion operation on traffic boats was proposed to ensure a reasonable balance between safety and the rules of COLREGS. The expansion parameters were set according to the rules of COLREGS and the risk level of collision. Then, the collision avoidance parameters were calculated based on the aforementioned motion model. With the use of MATLAB and Unity software, a semi-physical simulation platform was established to perform the avoidance simulation experiment under different situations. Results show the validity, reliability and intellectuality of the algorithm. This research can be used for intelligent collision avoidance of unmanned surface vehicle and other automatic driving ships.

Розробка Програмних Засобів Пошуку Безпечних Траєкторій На Основі Некласичних Топологій

“…За останній час багато дослідників пропонували різні геометричні форми доменів безпеки (коло, еліпс, шестикутник тощо) та методи визначення їх розмірів. Однак, форма та розмір домену безпеки залежать від низки факторів стохастичного характеру, які заважають чіткому його визначенню [11].…”

Collision-Avoidance Decision System for Inland Ships Based on Velocity Obstacle Algorithms

“…As a result, they realized a multi-objective intelligent collision-avoidance algorithm. Song et al [26] designed the eccentric expansion circle to discover the ship collision-avoidance algorithm meeting International Regulations for Preventing Collisions at Sea (COLREGs). Du et al [27] and Gu et al [28] improved the A* algorithm and named it 'label-A* algorithm' (LAA).…”

Collision and obstacle avoidance strategy for multi-agent systems with velocity dynamic programing

“…Although memory storage and segment 1 can help the robot escape the unknown asymmetric trap, the segment will be complex facing multiple obstacles, and agents might fall into traps created by the bucking effect. Apart from the above methods, velocity planning 28–30 is also applied to void obstacles. 29 uses the tangent lines as the velocity guidance, 30 proposes the dynamic circular boundary for velocity planning.…”