A collision avoidance method for multi-ship encounter situations
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ORIGINAL ARTICLE
A collision avoidance method for multi‑ship encounter situations Man‑Chun Lee2,3 · Chung‑Yuan Nieh3 · Hsin‑Chuan Kuo3 · Juan‑Chen Huang1,2 Received: 13 February 2019 / Accepted: 2 November 2019 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2019
Abstract This study proposes a multi-ship collision avoidance and route generating algorithm based on the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs) and the artificial potential field (APF) method. The velocity potential field is used as the field function of APF method. The algorithm consists of two modes, the course-changing and the track-keeping modes based on the velocity potential of vortex and dipole, respectively. The course-changing mode guides the ship to turn away from the obstacles according to the vector field of vortex potential. The track-keeping mode steers the ship back to and along on a pre-designed track in accordance with the vector field of dipole potential. The data of distance to the closest point of approach (DCPA), time to the closest point of approach (TCPA) and bearing angle evaluated from a maneuvering simulation are the acquired parameters of the proposed collision avoidance algorithm. The algorithm is straightforward and very simple to implement, and is suitable for the real time and distributed intelligent collision avoidance system. Simulation results indicate that the anti-collision formulation can avoid collision safely with the desired distance and indicate that the algorithm proposed can work effectively. Keywords Automatic collision avoidance · Route generating · Course-keeping · Track-keeping · Velocity potential field · Intelligent navigation · COLREGs
1 Introduction Because of the growth of world trade, marine transportation has been developing rapidly, which has led to an increase in the size and speed of merchant ships. Despite numerous advances in modern navigational equipment, ship collisions and groundings still happen frequently when ships navigate busy waterways; most collisions can be attributed to human decision failures. Collision avoidance and safe route finding are the most important problems for ship navigation in a congested waterway and harbour. Such a topic is a complex task because of many limitations and/or constraints generated by ship maneuverability and the operating environment, such as the regulations and seamanship. To increase navigation * Juan‑Chen Huang [email protected] 1
Department of Merchant Marine, National Taiwan Ocean University, Keelung 20224, Taiwan
2
Maritime Development and Training Center, National Taiwan Ocean University, Keelung, Taiwan
3
Department of Systems Engineering and Naval Architecture, National Taiwan Ocean University, Keelung, Taiwan
safety, developing an intelligent navigation system for ships to assist the navigator is imperative. In recent years, we saw an acceleration in the intelligent navigation system with an ever-increasing focus on digitalization and new technol
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