The Pc metric: A safety performance measure for evaluation of collision avoidance algorithms

Pradeep, Yazhini C.; Amezquita-Semprun, Kendrick; Rosario, Manuel Del; Yang, Yahui; Chen, Peter C. Y.

doi:10.1109/iisr.2018.8535783

Cited by 2 publications

(1 citation statement)

References 13 publications

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“…1,2 One kinds of the states of ship behavior is mainly according to the state changes of dynamic and kinematic parameters caused by ship motion to build the collision avoidance modeling. Traditional geometric structure model has been applied for decades, like DCPA/TCPA model 3,4 that derived from the International Regulations for Preventing Collisions at Sea (COLREGs), which usually construct the course change structure to regulate and control collision avoidance. For the better collision avoidance strategy, the aim to minimize the time costs and course angle alterations with DCPA/TCPA model was proposed 5 and showed good results in multiple ships situation.…”

Section: Introductionmentioning

confidence: 99%

Deep learning structure for collision avoidance planning of unmanned surface vessel

Zheng

2020

Proceedings of the Institution of Mechanical Engineers, Part M:

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The uncertain dynamics and environmental impacts in collision avoidance planning are always the key issues of autonomous navigation for unmanned surface vessel, due to the strong interactive ability and learning ability of deep learning, the combination of CNN and LSTM provide relevance and memory characteristics, which can extract the potential influence features of collision avoidance and correlation of historical strategies, to gain the more general trend of collision avoidance. Meanwhile, to make sure the real-time problem, the heuristic planning based on improved Electromagnetism-like mechanism algorithm is utilized to seek the optimal strategy with the rolling iteration of CNN–LSTM structure, for obtaining a simple and effective on-line scheme of collision avoidance. The complete algorithm has been tested and validated under the different situation comparing with the deterministic algorithm, it is worth mentioning that the algorithm can potentially be developed to advance collision-free planning especially in multiple vessels situation.

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Section: Introductionmentioning

confidence: 99%