A Research on Intelligent Obstacle Avoidance for Unmanned Surface Vehicles

摘要

In order to solve the problem of intelligent obstacle avoidance when an unmanned surface vehicle navigates autonomously in a complex marine environment, the obstacle avoidance is divided into stationary obstacle avoidance and dynamic obstacle avoidance. Based on the ant colony algorithm, the local path planning of the simplified model of the unmanned surface vehicles is carried out to achieve the static collision avoidance. And in accordance with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS), a dynamic obstacle model is established and calculated to obtain the changes of the speed and course of the unmanned surface vehicles under different encounters. It is shown through the simulations that the proposed approach considering multiple factors can achieve the automatic collision avoidance.