COLREG-compliant ship collision avoidance in narrow channels using curvilinear coordinates

被引：3

作者：

Cho, Yonghoon ^{[1
]}

Kim, Jonghwi ^{[1
]}

Kim, Jinwhan ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon, South Korea

来源：

IFAC PAPERSONLINE | 2021年 / 54卷 / 16期

关键词：

Autonomous ship navigation; COLREGs; curvilinear coordinates; B-spline; narrow channel;

D O I：

10.1016/j.ifacol.2021.10.068

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study presents a collision avoidance algorithm that considers the international regulations for preventing collisions at sea for narrow channels. The collision avoidance process for narrow channels may vary depending on the shape of the channel; therefore, implementing such an algorithm for autonomous navigation is not straightforward. In this study, curvilinear coordinates are introduced to represent the channels geometric shape using a parametric curve, B-spline. In addition, traffic rules are classified and applied to the collision avoidance problem for autonomous navigation in narrow channels. To demonstrate the feasibility of the proposed algorithm, Monte-Carlo simulations are conducted, and the results are discussed. Copyright (C) 2021 The Authors.

引用

页码：24 / 29

页数：6