Home > Online first >

Research on Intelligent Collision Avoidance for Unmanned Surface Vehicle with Multi-ship Obstacles Based on COLREGS

Abstract—In order to take into account the International Regulations for Preventing Collisions at Sea (COLREGS) as much as possible, a unified motion model for eccentric expansion of obstacle ships is proposed, which is in accordance with the Convention. To achieve intelligent collision avoidance of multi-obstacless in wide waters, a fuzzy programming method based on the urgency of obstacle avoidance, safety prediction and feasibility of adjustment is proposed. The simulation of collision avoidance planning for multiple complex obstacles with simultaneous encounter, crossover and overtaking conditions proves the intelligence of the method. 

Index Terms—unmanned surface vehicle (USV), multi-obstacles, intelligent collision avoidance, convention on the international regulations for preventing collisions at sea (COLREGS)