Generalized velocity obstacle algorithm for preventing ship collisions at sea
Generalized velocity obstacle algorithm for preventing ship collisions at sea
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DOI：
10.1016/j.oceaneng.2018.12.053
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发表时间：
2019-02-01
影响因子：
5
通讯作者：
van Gelder, P. H. A. J. M.
中科院分区：
文献类型：
--
作者：
Huang, Yamin;Chen, Linying;van Gelder, P. H. A. J. M.
在过去的几十年中，已经开发了许多用于船舶碰撞预防的方法。然而，大多数研究都是基于强的假设，如需要一个恒定的速度的目标船，两个船舶的场景的限制，简化船舶的动力学等，广义速度障碍（GVO）算法可以弥补这些差距。提出了一种船舶避碰的GVO算法，并设计了一个避碰系统（GVO-CAS）。所提出的系统可视化的一艘船的课程和速度的变化导致的碰撞，这不仅可以用于支持值班人员，以防止碰撞，但也为自动水面船舶（ASV）的碰撞预防和人类操作员接管ASV的控制。仿真实验表明，所提出的避碰系统可以在各种海上环境中正常工作。与原速度障碍算法相比，GVO算法更可靠，更适合于近距离船舶避碰。此外，GVO-CAS可以提供符合规则的规避行动，并为船舶提供最少数量的所需行动。这些结果表明，巨大的潜力，使用GVO算法在海上有人和无人驾驶船舶。
Numerous methods have been developed for ship collision prevention over the past decades. However, most studies are based on strong assumptions, such as the need for a constant velocity of the target-ship, the limitation to two-ship scenarios, the simplification of ships' dynamics, etc. Generalized Velocity Obstacle (GVO) algorithm can bridge these gaps. This paper presents a GVO algorithm for ship collision avoidance and designs a collision avoidance system (GVO-CAS). The proposed system visualizes the changes of one ship's course and speed resulting in collisions, which can be used not only for supporting the officer on watch to prevent collisions, but also for collision prevention of Autonomous Surface Vessels (ASVs) and for human operators taking over the control of ASVs. Simulation experiments show that the proposed collision avoidance system can work properly in various maritime environments. Compared to the original Velocity Obstacle algorithm, the GVO algorithm is more reliable and suitable for close range ship collision avoidance. Moreover, the GVO-CAS can offer rule-compliant evasive actions with a minimum number of required actions for ships. These results show the great potential to use the GVO algorithm in both manned and unmanned ships at sea.