A collision avoidance method for multi-ship encounter situations

This study proposes a multi-ship collision avoidance and route generating algorithm based on the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs) and the artificial potential field (APF) method. The velocity potential field is used as the field function of APF method. The algorithm consists of two modes, the course-changing and the track-keeping modes based on the velocity potential of vortex and dipole, respectively. The course-changing mode guides the ship to turn away from the obstacles according to the vector field of vortex potential. The track-keeping mode steers the ship back to and along on a pre-designed track in accordance with the vector field of dipole potential. The data of distance to the closest point of approach (DCPA), time to the closest point of approach (TCPA) and bearing angle evaluated from a maneuvering simulation are the acquired parameters of the proposed collision avoidance algorithm. The algorithm is straightforward and very simple to implement, and is suitable for the real time and distributed intelligent collision avoidance system. Simulation results indicate that the anti-collision formulation can avoid collision safely with the desired distance and indicate that the algorithm proposed can work effectively.