Swarm Intelligence Approach to Safe Ship Control

The unmanned surface vehicles (USV) are required to perform a dynamic obstacle avoidance during fulfilling a task. This is essential for USV safety in case of an emergency and such action has been proved to be difficult. However, little research has been done in this area. This study proposes an emergency collision avoidance algorithm for unmanned surface vehicles (USVs) based on a motion ability database. The algorithm is aimed to address the inconsistency of the existing algorithm. It is proposed to avoid collision in emergency situations by sharp turning and treating the collision avoidance process as a part of the turning movement of USV. In addition, the rolling safety and effect of speed reduction during the collision avoidance process are considered. First, a USV motion ability database is established by numerical simulation. The database includes maximum rolling angle, velocity vector, position scalar, and steering time data during the turning process. In emergency collision avoidance planning, the expected steering angle is obtained based on the International Regulations for Preventing Collisions at Sea (COLREGs), and the solution space, with initial velocity and rudder angle taken as independent variables, is determined by combining the steering time and rolling angle data. On the basis of this solution space, the objective function is solved by the particle swarm optimization (PSO) algorithm, and the optimal initial velocity and rudder angle are obtained. The position data corresponding to this solution is the emergency collision avoidance trajectory. Then, the collision avoidance parameters were calculated based on the afore mentioned model of motion. With the use of MATLAB and Unity software, a semi-physical simulation platform was established to perform the avoidance simulation experiment under emergency situation. Results show the validity of the algorithm. Hence results of this research can be useful for performing intelligent collision avoidance operations of USV and other autonomous ships

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“…where t = 0,1…, 9, 10 ; i = 0,1…, 16,17 , stand for the index of different speeds. j = 0,1…,6, 7 ,-the index of different rudder angles.…”

Section: Establishing a Rotary Motion Velocity Vector Database And A mentioning

confidence: 99%

“…In emergency case of collision avoidance, the above mentioned algorithms are rarely used mainly due to the following reasons [16][17]:…”

Section: Introductionmentioning

confidence: 99%

Method of Emergency Collision Avoidance for Unmanned Surface Vehicle (USV) Based on Motion Ability Database

Song

Chen

Xiong

et al. 2019

Polish Maritime Research

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“…The use of ACO algorithm to determine the safe trajectory of a ship in a collision situation has been developed by A. Lazarowska [6].…”

Section: Fig 4 Examples Of Individuals Forming Swarms Of Particlesmentioning

confidence: 99%

Optimization Methods in Maritime Transport and Logistics

Lisowski

2018

Polish Maritime Research

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The purpose of the article is to present the goal of optimization of transport and logistics processes, followed by literature review in the field of optimization methods. The optimization methods were categorized and the most commonly used methods were listed. The tasks of static and dynamic optimization were formulated. An example of the single-criterion static and dynamic optimization and multi-criteria game optimization are given.

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“…In the theory of line fitting of Hough transform, each pixel of binary image can be represented by in with polar coordinates of the Equation 8 [23][24][25]. is the angle between point and the x-axis and is the distance between point with coordinate origin.…”

Section: Cargo Height Detectionmentioning

confidence: 99%

An Anti-Collision Method of Slip Barrel for Automatic Ship Loading in Bulk Terminal

Shen

2016

Polish Maritime Research

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Swarm Intelligence Approach to Safe Ship Control

Abstract: This paper presents an application of the Ant Colony Optimization (ACO

Cited by 17 publications

References 25 publications

Method of Emergency Collision Avoidance for Unmanned Surface Vehicle (USV) Based on Motion Ability Database

Method of Emergency Collision Avoidance for Unmanned Surface Vehicle (USV) Based on Motion Ability Database

Optimization Methods in Maritime Transport and Logistics

An Anti-Collision Method of Slip Barrel for Automatic Ship Loading in Bulk Terminal

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