COLREGs: Compliant Dynamic Obstacle Avoidance of USVs Based on the Dynamic Navigation Ship Domain

Deng, Fang; Jin, Leilei; Hou, Xiuhui; Wang, Longjin; Li, Boyang; Yang, Hualin

doi:10.3390/jmse9080837

Cited by 19 publications

(9 citation statements)

References 34 publications

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“…A nonlinear manoeuvring model was used in the simulation, which is a modified version of Abkowitz model, and was validated with the manoeuvring tests [55]. The values of the hydrodynamic coefficients can be found in [55]. The time derivatives of u, v and r are given:…”

Section: Nonlinear Manoeuvring Modelmentioning

confidence: 99%

Maritime Autonomous Vessels

2023

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Section: Nonlinear Manoeuvring Modelmentioning

confidence: 99%

Maritime Autonomous Vessels

2023

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“…Take the rate of change of relative velocity and relative distance as a measure of their contribution rate to risk change, and normalize them as their respective weights. The quantification of collision risk is shown in formulas (11) and (12).…”

Section: S R =mentioning

confidence: 99%

Modeling of Ship Encounter Risk Based on Riemann Sphere Projection Transformation

et al. 2022

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With the continuous development of the shipping industry, the shipping traffic density is increasing day by day, and the ship collision accidents are increasing year by year. As the collision of ships will lead to serious losses, people pay more attention to how ships perceive the encounter risks and adopt safer navigation strategies. In order to quantify the risks in the process of ship encounter, this paper proposes a ship encounter risk perception model based on Riemann sphere projection transformation, which projects the relative motion trajectory of Ship as the relative curve motion on the Riemann sphere, constructs the encounter risk model by using the relative velocity and relative distance of the ship on Riemann sphere, and simulates it based on three encounter situations and actual accident cases, and compares the reliability of the model with the traditional fuzzy comprehensive evaluation model based on cases. The results show that the model proposed in this paper can effectively assess the ship encounter risks and creates a more intuitive real-time visual output, which is convenient to assist Ship Anti-collision decision-making. At the same time, it can provide theoretical basis for the inversion of ship collision accidents and the identification of responsibilities.

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“…This method has high efficiency, but the expansion scale is difficult to choose and the accuracy cannot be guaranteed, resulting in a big difference between collision detection and real results. In actual navigation, it is necessary to maintain an exclusive domain around the USV which is defined as the navigation safety domain (NSD) [54,55] and is established in order to avoid encroachment by other ships or obstacles. NSD is usually ovalshaped, with its long axis being three to eight times the length of the ship.…”

Section: Graph Expansion/search Model Based On Hybrid Motion Primitivesmentioning

confidence: 99%

Ship Motion Planning for MASS Based on a Multi-Objective Optimization HA* Algorithm in Complex Navigation Conditions

Zhang

Gao

et al. 2021

JMSE

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Ship motion planning constitutes the most critical part in the autonomous navigation systems of marine autonomous surface ships (MASS). Weather and ocean conditions can significantly affect their navigation, but there are relatively few studies on the influence of wind and current on motion planning. This study investigates the motion planning problem for USV, wherein the goal is to obtain an optimal path under the interference of the navigation environment (wind and current), and control the USV in order to avoid obstacles and arrive at its destination without collision. In this process, the influences of search efficiency, navigation safety and energy consumption on motion planning are taken into consideration. Firstly, the navigation environment is constructed by integrating information, including the electronic navigational chart, wind and current field. Based on the environmental interference factors, the three-degree-of-freedom kinematic model of USVs is created, and the multi-objective optimization and complex constraints are reasonably expressed to establish the corresponding optimization model. A multi-objective optimization algorithm based on HA* is proposed after considering the constraints of motion and dynamic and optimization objectives. Simulation verifies the effectiveness of the algorithm, where an efficient, safe and economical path is obtained and is more in line with the needs of practical application.

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COLREGs: Compliant Dynamic Obstacle Avoidance of USVs Based on the Dynamic Navigation Ship Domain

Cited by 19 publications

References 34 publications

Maritime Autonomous Vessels

Maritime Autonomous Vessels

Modeling of Ship Encounter Risk Based on Riemann Sphere Projection Transformation

Ship Motion Planning for MASS Based on a Multi-Objective Optimization HA* Algorithm in Complex Navigation Conditions

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