Research on multimodal ships interaction collision avoidance method based on worth-oriented negotiation

In recent years, the development of autonomous ships has made great progress. Looking around the world, many autonomous ships have completed demonstration voyages. It can be predicted that in the future, more autonomous ships of various autonomous levels and tonnage will start operating, but traditional ships still occupy a dominant position. Therefore, in the future mixed maritime traffic scenario, achieving collision avoidance between multimodal ships is a subject that must be studied. This paper first establishes the interaction relationship between multimodal ships, and a multimodal ships encounter scenario model based on worth-oriented negotiation theory. It proposes to obtain joint planning through negotiation to minimize the state of the navigation environment. According to general negotiation techniques, we have formed some content, including the set of feasible manoeuvering space for ships, the set of collision avoidance strategies, and the negotiation completion criteria. Finally, the entire process of interaction is shown through a sequence diagram.