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Velocity obstacle algorithms for collision prevention at sea

Published on Mar 1, 2018in Ocean Engineering2.73
· DOI :10.1016/j.oceaneng.2018.01.001
Yamin Huang4
Estimated H-index: 4
(TU Delft: Delft University of Technology),
P.H.A.J.M. van Gelder22
Estimated H-index: 22
(TU Delft: Delft University of Technology),
Yuanqiao Wen4
Estimated H-index: 4
(WUT: Wuhan University of Technology)
Abstract
Abstract It is of critical importance to prevent collisions at sea for navigation safety. Some popular techniques have been proposed and been used in practice, e.g. closest point of approach, collision threat parameters area, etc. However, most of these techniques assume that the target ship keeps a constant velocity which is unrealistic and may easily lead to a false alarm. In this article, Velocity Obstacle (VO) algorithms are applied to support collision avoidance with target ships whose trajectories are non-linear (with time-dependent velocities) and (probabilistically) predictable. In particular, Linear-VO, Non-Linear VO, and Probabilistic VO algorithms are used for this purpose. Compared to traditional approaches, these algorithms are capable of detecting collision dangers with target ships sailing non-linearly and (probabilistically) predictably, finding collision-free velocities in multi-ship scenarios, and preventing collisions. Two scenarios are designed to demonstrate the performance of VO algorithms. The results show that the proposed VO algorithms can facilitate collision detection and offer proper collision-free solutions for ships.
  • References (23)
  • Citations (7)
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References23
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#1Rafal Szlapczynski (GUT: Gdańsk University of Technology)H-Index: 12
#2Joanna SzlapczynskaH-Index: 11
Ship safety domain is a term which is widely used in research on collision avoidance and traffic engineering among others. Classic ship domains have been compared in multiple reports. However, up till now there has been no work summing up contemporary research in this field. The paper offers a systematic and critical review of the newer ship domain models and related research. It discusses multiple differences in approach to ship domain concept: from definitions and safety criteria, through rese...
29 CitationsSource
Mar 1, 2017 in SMC (Systems, Man and Cybernetics)
#2Joost Ellerbroek (TU Delft: Delft University of Technology)H-Index: 10
Vessel traffic is changing due to changing transport demands, larger ships, and new use of sea space, such as windmill parks. This may have an effect on the risks at sea. This paper uses ship state information provided by automatic identification system-messages to analyze the traffic on the North Sea. From the ship-state information conflict situations are selected, i.e., situations where the ships need to maneuver to avoid collision. In addition, situations of near-miss collisions are calculat...
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#1Rafal Szlapczynski (GUT: Gdańsk University of Technology)H-Index: 12
#2Joanna SzlapczynskaH-Index: 11
The paper presents a method of displaying ship collision avoidance information which is based on an unconventional Collision Threat Parameters Area (CTPA) technique. The solution presented here extends CTPA's functionality from past works by supporting navigation in restricted waters and handling ship domains analytically instead of numerically. It visualizes potential navigational threats as well as possible collision avoidance manoeuvres. The proposed method provides three types of information...
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#1Rafal Szlapczynski (GUT: Gdańsk University of Technology)H-Index: 12
#2Joanna SzlapczynskaH-Index: 11
Abstract According to a lot of contemporary research on ship collision avoidance the classic approach parameters – distance at closest point of approach (DCPA) and time to the closest point of approach (TCPA) – are not sufficient for estimating ship collision risk and for planning evasive manoeuvres. Consequently new measures are introduced, often utilizing the concept of a ship domain. Their drawback, up to this point, was the lack of analytic solutions that would make it possible to efficientl...
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