A maneuvering velocity obstacle algorithm for ship collision avoidance

Pulin Zhang; Chenguang Liu; Zhibo He; Mengxia Li; Xiumin Chu

doi:10.1117/12.3054621

20 December 2024 A maneuvering velocity obstacle algorithm for ship collision avoidance

Pulin Zhang, Chenguang Liu, Zhibo He, Mengxia Li, Xiumin Chu

Author Affiliations +

Proceedings Volume 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024); 134211G (2024) https://doi.org/10.1117/12.3054621
Event: Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 2024, Dalian, China

Abstract

Safe and effective collision avoidance is the key for ships to achieve the autonomous navigation. This paper proposes a novel maneuvering velocity obstacle (MVO) algorithm, which considers the ship velocity area more accurately with a ship maneuvering mathematical model group (MMG) model and current navigation states. Specifically, the MVO algorithm considers ship MMG model and uses planar geometry methods to determine the reachable collision avoidance area of the velocity vector of own ship (OS). It calculates the collision avoidance velocity and course targets within a specified time step, uses a proportional integral derivative (PID) controller to execute the target instructions, and updates the states of OS to achieve dynamic collision avoidance. Three cases are carried out with different encounter situations. The results indicate that the OS using the MVO algorithm can safely avoid both static and dynamic obstacles. The collision avoidance performance is superior to that of the traditional velocity obstacle (VO) algorithm and complies with navigation rules and ship maneuvering capabilities.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Pulin Zhang, Chenguang Liu, Zhibo He, Mengxia Li, and Xiumin Chu "A maneuvering velocity obstacle algorithm for ship collision avoidance", Proc. SPIE 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 134211G (20 December 2024); https://doi.org/10.1117/12.3054621

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