국제해상충돌예방규칙을 고려한 확률적 속도 장애물 기반의 선박 충돌회피 알고리즘 Automatic Ship Collision Avoidance Algorithm based on Probabilistic Velocity Obstacle with Consideration of COLREGs

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This study presents an automatic collision avoidance algorithm for autonomous navigation of unmanned surface vessels. The performance of the collision avoidance algorithm is heavily dependent on the estimation quality of the course and speed of traffic ships because collision avoidance maneuvers should be determined based on the predicted motions of the traffic ships and their trajectory uncertainties. In this study, the collision avoidance algorithm is implemented based on the Probabilistic Velocity Obstacle (PVO) approach considering the maritime collision regulations (COLREGs). In order to demonstrate the performance of the proposed algorithm, an extensive set of simulations was conducted and the results are discussed.
Publisher
대한조선학회
Issue Date
2019-02
Language
Korean
Citation

대한조선학회 논문집, v.56, no.1, pp.75 - 81

ISSN
1225-1143
DOI
10.3744/SNAK.2019.56.1.075
URI
http://hdl.handle.net/10203/263263
Appears in Collection
ME-Journal Papers(저널논문)
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