Hierarchical Collision Avoidance Algorithm with Route Exchange Concept for Autonomous and Conventional Ships
Melih Akdağ,
Tom Arne Pedersen,
Thor I Fossen
et al.
Abstract:This study proposes a decentralized collision avoidance method for multiple ships and utilizes information exchange between vessels. The method is formulated with a hierarchical algorithm architecture and communicates with other ships using the route exchange concept to calculate collision-free trajectories. The hierarchical architecture consists of mid-level and reactive trajectory planners and considers navigational rules, e.g. the COLREG, and both static and dynamic obstacles. Dynamic obstacles represent th… Show more
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