In this paper, the artificial potential field method is adopted simultaneously by own ship and target ships for collision avoidance. The relative positions of ships, ship domains (four areas: Safe zone, Negotiation Zone, Emergency Avoidance Zone and Prohibited Zone), time at closest point of approach and distance at closest point of approach are utilized to analysis the encounter situations and construct a ship’s danger assessment function. Corresponding evasive actions are taken after determining the roles of each vessel according to COLREGS. The stand-on ship shall keep her course and speed and the give-away ship shall take early and substantial action to keep well clear. Four typical encounter situations including head-on, crossing (stand-on or give-away), and overtaking are simulated. The simulation results vividly demonstrate the evasive behaviors adopted by ships when dealing with collision scenarios, aligning well with COLREGS. The distance between ships and the heading angle offset during the encounter show the results by this method.
Research on Autonomous Ships for Collision Avoidance Based on Improved Artificial Potential Field Method
06.09.2024
760963 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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