An application-orientated anti-collision path planning algorithm for unmanned surface vehicles

摘要

This article presents a reasonable anti-collision path planning algorithm with the properties of strong practicability and high degree of automation for unmanned surface vehicles (USV) or Marine Autonomous Surface Ships (MASS) in dynamic environment situation. Based on the requirements of the International Regulations for Preventing Collisions at Sea (COLREGs), the qualitative provision about the apparent intention of anti-collision maneuver is quantified in the algorithm. Meanwhile, the Boolean expression technology is adopted to help determine the type of encounter situation and action manner automatically, which provides theoretical basis for the application of path-planning algorithm. In addition, the modified velocity obstacle approach and artificial potential fields are combined to improve the practicality and rationality of the optimization solution. Finally, simulation examples consisting different traffic scenarios are discussed to demonstrate the effectiveness and practicality of the proposed scheme.