An Improved VO Method for Collision Avoidance of Ships in Open Sea

In order to effectively deal with collisions in various encounter situations in open water environments, a ship collision avoidance model was established, and multiple constraints were introduced into the velocity obstacle method, a method to determine the ship domain by calculating the safe distanc...

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Bibliographic Details
Published inJournal of marine science and engineering Vol. 12; no. 3; p. 402
Main Authors Zheng, Mao, Zhang, Kehao, Han, Bing, Lin, Bowen, Zhou, Haiming, Ding, Shigan, Zou, Tianyue, Yang, Yougui
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.03.2024
Subjects
Accident prevention
Algorithms
Analysis
Avoidance behavior
Avoidance behaviour
Collision avoidance
Collision dynamics
collision risk index
Collisions
COLREGs
Constraint modelling
Decision making
Efficiency
Marine accidents
Methods
Navigation
Neural networks
R&D
Research & development
Robots
Ship domains
Ship handling
the ship domain
Velocity
velocity obstacle
China
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Summary:In order to effectively deal with collisions in various encounter situations in open water environments, a ship collision avoidance model was established, and multiple constraints were introduced into the velocity obstacle method, a method to determine the ship domain by calculating the safe distance of approach was proposed. At the same time, the ship collision avoidance model based on the ship domain is analyzed, and the relative velocity set of the collision cone is obtained by solving the common tangent line within the ellipse. The timing of starting collision avoidance is determined by calculating the ship collision risk, and a method for ending collision avoidance is proposed. Finally, by comparing the simulation experiments of the improved algorithm with those of the traditional algorithm and the actual ship experiment results of manual ship maneuvering, it is shown that the method can effectively avoid collisions based on safe encounter distances that comply with navigation experience in different encounter situations. At the same time, it has better performance in collision avoidance behavior. It has certain feasibility and practical applicability.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12030402