According to the characters of marine navigation, this paper extends the concept of the velocity obstacle and develops a reactive approach to collision avoidance among multiple ship agents. By selecting a reasonable velocity within free parts of its maneuvering space that aren't covered by the union of velocity obstacles of all other ship agents, a ship agent can navigate safely without collision. Simulation experiments show that our approach is able to navigate multiple ship agents with smooth and natural paths to avoid collision, and can be applied to multi-agent based marine traffic simulation systems.
Collision Avoidance among Multiple Ship Agents
Ninth International Conference of Chinese Transportation Professionals (ICCTP) ; 2009 ; Harbin, China
ICCTP 2009 ; 1-7
2009-07-23
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Collision Avoidance among Multiple Ship Agents
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