文章基本信息

标题：Collision Avoidance Algorithm Based on COLREGs for Unmanned Surface Vehicle
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作者：Hyo-Gon Kim ; Sung-Jo Yun ; Young-Ho Choi 等
期刊名称：Journal of Marine Science and Engineering
电子版ISSN：2077-1312
出版年度：2021
卷号：9
期号：8
页码：863
DOI：10.3390/jmse9080863
语种：English
出版社：MDPI AG
摘要：Recently, unmanned surface vehicles (USV) are being actively developed. For USVs to be put to practical use, it is necessary to secure safety by preventing collisions with general ships. To this end, USVs must avoid opposing vessels based on international regulations for preventing collisions at sea (COLREGs, 1972). This paper proposes an algorithm for USVs to avoid collisions with opposing vessels based on COLREG rules. The proposed algorithm predicts dangerous situations based on distance to closest point of approach (DCPA) and time to closest point of approach (TCPA). It allows USVs to avoid opponent ships based on the dynamic window approach (DWA). The DWA has been improved to comply with COLREGs, and we implemented a simulation and compared the standard DWA with the COLREG-compliant DWA (CCDWA) proposed in this paper. The results confirm that the CCDWA complies with COLREGs.