A method for unmanned vessel autonomous collision avoidance based on model predictive control. Issue 1 (31st December 2022)

• Record Type: Journal Article
• Authors: Xing, Shengwei; Xie, Hongwei; Zhang, Wenjun
• Is Part Of: Systems science & control engineering. Volume 10:Issue 1(2022)
• Page Start: 255
• Page End: 263
• Publication Date: 2022-12-31
• Subjects: Model predictive control -- unmanned vessel -- collision avoidance -- collision risk; System theory -- Periodicals; Automatic control -- Periodicals; 003.05
• DOI: 10.1080/21642583.2021.1986752
• Languages: English
• ISSNs: 2164-2583

Abstract

Abstract : Aiming at the problem of autonomous collision avoidance of unmanned vessels in the case of multiple vessels encountering at sea, this paper proposes a method for collision avoidance of vessels in open water based on the Mathematical Model Group (MMG) vessel motion mathematical model. This method uses Model Predictive Control (MPC) model algorithm, and considers vessel maneuverability and the International Regulations for Preventing Collision at Sea, 1972 (COLREGs), and uses fuzzy mathematics to analyze the collision risk of vessels during navigation, and then constructs the evaluation function of the collision avoidance algorithm. The vessel's autonomous collision avoidance is realized. The simulation results show that the algorithm can solve the problem of autonomous vessel collision avoidance in the case of multi-vessel encounters in open water, which verifies the effectiveness of the algorithm.