Research on Collision Avoidance Decision-Making of Unmanned Ship Navigation in Fairway

In order to solve the problem of collision avoidance for unmanned ships navigation intelligently in narrow fairway, a decision-making method for collision avoidance for unmanned ships in fairway is proposed. Firstly, constructing a fairway model based on the research of ship domain, which can be used to determine whether there is a collision risk during fairway navigation. Then, based on the investigation and analysis of fairway collision avoidance, the improved avoidance decision model is used to search and determine the optimal avoidance scheme, that is, the step-by-step traverse all schemes which is change direction or speed and evaluate the effectiveness of the scheme. The simulation results show that the method can effectively avoid the dangerous targets in Fairway.