Automatic Ship Collision Avoidance Algorithm based on Probabilistic Velocity Obstacle with Consideration of COLREGs

Cho, Yong-Hoon; Han, Jungwook; Kim, Jinwhan; Lee, Phil-Yeob

doi:10.3744/snak.2019.56.1.075

Cited by 5 publications

(1 citation statement)

References 12 publications

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“…군집 운용은 일반적으로 단일 운용에 비해 해양 수색/정찰, 수송, 구조작업, 기뢰 탐색 및 대 장선 엄호 등 광범위한 지역의 임무에서 효율적이고 폭넓은 응용전망을 가지며, 무인수상정 간에 협동임무 가 가능하도록 지속적인 연구가 수행되고 있다 [2,3] . [4] , D. Kim.외 및 H. Kim.외 에서는 COLREGs 조건을 최근접점에서 상대선과의 거리(DCPA, Distance to Closest Point of Approach), 최 근접점에 이르는 시간(TCPA, Time to Closest Point of Approach)을 이용한 충돌회피 방법을 제안하였다 [5,6] . W. Naeem.…”

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A Study on the Formation Control Algorithm of Multi-USVs According to COLREGs

Heo¹,

Shim²,

Kim³

et al. 2022

J. KIMS Technol

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In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

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