Obstacle detection and avoidance with noisy measurements using danger zone concepts

Wang, Ta-Chung

doi:10.1080/02533839.2015.1047799

Cited by 2 publications

(1 citation statement)

References 7 publications

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“…The velocity obstacle (VO) algorithm has been applied in many fields, such as vehicles, robots, and unmanned aerial vehicles, to avoid collisions (Mercado et al, 2015; Wang, 2015; Lee et al, 2017). Because the VO algorithm itself provides not only conflict detection results but also an optional speed set, this method has gradually been applied in the ship field in recent years (Huang et al, 2018; Song et al, 2018).…”

Section: Description Of the Collision Avoidance Methodsmentioning

confidence: 99%

Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Wang

Guan

et al. 2020

J. Navigation

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Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identify the avoidance ship in each cycle. Considering the nonlinear collision avoidance trajectory of ships, a new method for calculating the degree of danger using a velocity obstacle algorithm is proposed. Therefore, in each communication, each ship considers the avoidance behaviours of other ships in planning its avoidance trajectory. Additionally, we combine bi-criterion evolution (BCE) and the ant lion optimiser to plan the entire collision avoidance path. Three scenarios are designed to demonstrate the performance of this method. The results show that the proposed method can find a suitable collision-free solution for all ships.

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