Autonomous Collision Avoidance Method For Multi-Ship Encounter Situation

With the progress of global economic integration,the number of shipping vessels in the sea has been increasing year by year,which results in the frequent occurrence of ship collision accidents.Due to the larger size and faster speed,ship collision accidents caused not only huge losses to human economy and property,but also other serious consequences such as environmental pollution and waste of resources.Therefore,the ship collision avoidance has become a hot issue in both shipbuilding and shipping fields.Especially with the intelligent innovation of shipborne equipment,the research on autonomous collision avoidance system attracts the wide attention.The research work is intended to develop a COLREGs-complaint autonomous collision avoidance system for multi-ship encounter situation.A new adaptive sampling algorithm combined with the classical velocity obstacle method was used to generate the planned trajectory.The motion primitive method was employed to adjust the planned trajectory under the constraints of ship maneuverability.A target ship motion prediction method with consideration of target ship intention was embedded in the proposed algorithms.Successful simulation and on-water tests of a trimaran model validate the effectiveness and superiority of the proposed algorithms,which is valuable for further development of autonomous collision avoidance system.