Intelligent Collision Avoidance Decision for Single Ship Considering Ship Maneuverability

摘要

Aiming at the collision avoidance problem of large ships at sea, this paper studies a collision avoidance method that can take into account the difficulty of steering of large ships and the large inertia of motion. According to the KT equation of the ship, its kinematic model is established, and the ship hazard model is established on the basis of fully considering the maneuverability of the ship. The geometrical collision avoidance method is used to quantitatively calculate the ship's speed reduction range or steering range, and the decision is given in conjunction with COLREGS (Convention on the International Regulations for Preventing Collisions at Sea). The experimental results show that this method can solve the collision avoidance problem of large ships in open water area and has high accuracy and reliability.