超车
相对速度
碰撞
运动规划
区间(图论)
路径(计算)
计算机科学
避碰
集合(抽象数据类型)
过程(计算)
点(几何)
运筹学
模拟
海洋工程
实时计算
工程类
人工智能
运输工程
计算机安全
数学
机器人
物理
几何学
量子力学
组合数学
程序设计语言
操作系统
作者
Huarong Zheng,Jian Zhu,Chenguang Liu,H. L. Dai,Yamin Huang
标识
DOI:10.1016/j.oceaneng.2023.114401
摘要
Risk assessment and collision avoidance are extremely important for the safe navigation of surface ships. In this paper, we propose a regulation aware dynamic path planning method based on uncertain velocity obstacles for intelligent ships. Specifically, we first use the fuzzy logic theory to evaluate the real-time collision risk of the own ship. Based on the closest point of approach criterion, considering the influences of the relative bearing, the distance, and ship speed ratio, the collision risk is used to activate the path planning process. Moreover, we consider the various ship encountering scenarios including crossing, overtaking and head-on. To deal with the uncertainties in the target ship information, the relative cone angle of the traditional velocity obstacles are systematically expanded using a robust tube idea. The reachable velocity set of the own ship is accordingly divided into three subsets that meet the rules specified by COLREGs in crossing, overtaking and head-on scenarios. Real automatic identification system (AIS) data in an area of the Yangtze River in Wuhan, China, is used to demonstrate the effectiveness of the proposed approach.
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