2023
DOI: 10.3390/jmse11091831
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Unmanned Vessel Collision Avoidance Algorithm by Dynamic Window Approach Based on COLREGs Considering the Effects of the Wind and Wave

Xiaoyu Yuan,
Chengchang Tong,
Guoxiang He
et al.

Abstract: In recent years, the rapid development of artificial intelligence algorithms has promoted the intelligent transformation of the ship industry; unmanned surface vessels (USVs) have become a widely used representative product. The dynamic window approach (DWA) is an effective robotic collision avoidance algorithm; however, there are deficiencies in its application to the ship field. First, the DWA algorithm does not consider International Regulations for Preventing Collisions at Sea (COLREGs), which must be met … Show more

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Cited by 5 publications
(4 citation statements)
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“…The implementation process of the classical DWA algorithm is to convert the position control of the selfdriving car into the speed control, and describe the obstacle avoidance problem as an optimization problem with constraints in the speed space of the car [11], including the speed of the car, the driving direction and the position constraints of obstacles in the surrounding environment [12].…”
Section: Classical Dwa Algorithmmentioning
confidence: 99%
See 1 more Smart Citation
“…The implementation process of the classical DWA algorithm is to convert the position control of the selfdriving car into the speed control, and describe the obstacle avoidance problem as an optimization problem with constraints in the speed space of the car [11], including the speed of the car, the driving direction and the position constraints of obstacles in the surrounding environment [12].…”
Section: Classical Dwa Algorithmmentioning
confidence: 99%
“…On the basis of CVM, a more perfect DWA algorithm is proposed in reference [7]. The objective function comprehensively considers three factors: heading angle, speed and obstacle distance, and the trajectory obtained is relatively smooth, which effectively solves the problem of circling around obstacles [8]- [11].…”
Section: Introductionmentioning
confidence: 99%
“…To eliminate the impact of ocean currents on optimal path planning for UUVs, an intelligent algorithm with an adjusted function was proposed [23], but the actual scenario maneuverability was not considered. As winds and waves had a great impact on obstacle avoidance for unmanned aerial vehicles (UAVs) in actual flight environments, a UAV path-planning method based on COLREGS (Convention on the International Regulations for Preventing Collisions at Sea) and an improved DWA algorithm (UDWA) was proposed [24]. By prioritizing speed sampling areas and enhancing speed functions in the target function, the impact of winds and waves on UAVs was transformed into speed changes.…”
Section: Introductionmentioning
confidence: 99%
“…In comparison with conventional ships, USVs present reduced costs, increased efficiency, and superior security. It is imperative to develop a robust and risk-free steering system that meets the different operational prerequisites [3].…”
Section: Introductionmentioning
confidence: 99%