Improvement of the anticollision method "Velocity Obstacle" by taking into consideration the dynamics of an operating vessel
DOI:
https://doi.org/10.15587/1729-4061.2019.185319Keywords:
collision prevention, sorting method, set of valid options, dynamics accounting algorithmAbstract
This paper has proposed an algorithm that accounts for the dynamics of an operating vessel within the Velocity Obstacle collision prevention method. This algorithm provides the basis for selecting joint maneuvers by course and speed with the assigned start for divergence with multiple "targets" by determining, applying a sorting method, a representative set of acceptable maneuver options. In order to employ the method of sorting, we have selected the ranges of change in the maneuver parameters (course and speed) and performed their sampling at a small enough step. One finds, for all pairs of discrete values of change in the course and speed, taking into consideration the dynamics of an operating vessel, a trajectory and duration of a maneuver, with determining, at the time it ends, the location of an operating vessel and "targets", as well as it is to be established if it is accompanied by the intersection of "target" danger domains. If none of these domains is crossed, the maneuver option is considered acceptable. The totality of such joint changes in course and speed, derived from sorting, creates a set of permissible maneuver options. When finding this set, the dynamics of an operating vessel is taken into consideration simplistically. It is believed that the turns are performed at a constant angular speed, a change in the linear speed at braking can be represented by a power polynomial of second order, and changes in course and speed in the joint maneuver are independent. The "targets" involve circular danger domains whose center is shifted, from a "target's" center of mass to the stern, by 1/3 of the domain's radius. This radius has been amended to include the size of a "target" and an operating vessel.
To test the resulting algorithm, the software has been developed in the Borland Delphi programming language. Employing it for calculations has confirmed the operability of the algorithm. That enables the derivation, in real time, of a set of velocity vectors for divergence taking into consideration the dynamics of own vessel, which makes it possible to improve the accuracy of forecasting and the safety of calculated maneuvers. The use of displaced circular danger domains for "targets" makes it possible to take into account the unequal degree of risk when crossing their course along the bow and sternReferences
- Statheros, T., Howells, G., Maier, K. M. (2007). Autonomous Ship Collision Avoidance Navigation Concepts, Technologies and Techniques. Journal of Navigation, 61 (1), 129–142. doi: https://doi.org/10.1017/s037346330700447x
- Kuwata, Y., Wolf, M. T., Zarzhitsky, D., Huntsberger, T. L. (2014). Safe Maritime Autonomous Navigation With COLREGS, Using Velocity Obstacles. IEEE Journal of Oceanic Engineering, 39 (1), 110–119. doi: https://doi.org/10.1109/joe.2013.2254214
- Damas, B., Santos-Victor, J. (2009). Avoiding moving obstacles: the forbidden velocity map. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. doi: https://doi.org/10.1109/iros.2009.5354210
- Wilkie, D., van den Berg, J., Manocha, D. (2009). Generalized velocity obstacles. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. doi: https://doi.org/10.1109/iros.2009.5354175
- Pietrzykowski, Z., Borkowski, P., Wołejsza, P. (2012). NAVDEC - navigational decision support system on a sea-going vessel. Maritime University of Szczecin, 30 (102), 102–108.
- Yong, X., Yixiong, H., Liwen, H. (2015). Multi‐ship automatic collision avoidance control method based on speed obstacle. China maritime, 38 (3), 144–153.
- Kim, D.-G., Hirayama, K., Park, G.-K. (2014). Collision Avoidance in Multiple-Ship Situations by Distributed Local Search. Journal of Advanced Computational Intelligence and Intelligent Informatics, 18 (5), 839–848. doi: https://doi.org/10.12716/1001.09.01.03
- Hayama, I. (2014). Computation of OZT by using Collision Course. Navigation, 188, 78–81. doi: https://doi.org/10.18949/jinnavi.188.0_78
- Vagushchenko, A. A., Vagushchenko, A. L. (2017). Definition of safe z-maneuvers areas for collision avoidance in confined waters. Ekspluatatsiya morskogo transporta, 2 (83), 73–75.
- Banas, P., Breitsprecher, M. (2011). Knowledge Base in the Interpretation Process of the Collision Regulations at Sea. International Journal on Marine Navigation and Safety of Sea Transportation, 5 (3), 359–364.
- Burmeister, H., Bruhn, W. (2014). Designing an autonomous collision avoidance controller respecting COLREG. Maritime-Port Technology and Development, 83–88. doi: https://doi.org/10.1201/b17517-11
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2019 Andriy Aleksishin, Yevgeniy Kalinichenko, Aleksandr Vagushchenko, Oleksandr Vagushchenko
This work is licensed under a Creative Commons Attribution 4.0 International License.
The consolidation and conditions for the transfer of copyright (identification of authorship) is carried out in the License Agreement. In particular, the authors reserve the right to the authorship of their manuscript and transfer the first publication of this work to the journal under the terms of the Creative Commons CC BY license. At the same time, they have the right to conclude on their own additional agreements concerning the non-exclusive distribution of the work in the form in which it was published by this journal, but provided that the link to the first publication of the article in this journal is preserved.
A license agreement is a document in which the author warrants that he/she owns all copyright for the work (manuscript, article, etc.).
The authors, signing the License Agreement with TECHNOLOGY CENTER PC, have all rights to the further use of their work, provided that they link to our edition in which the work was published.
According to the terms of the License Agreement, the Publisher TECHNOLOGY CENTER PC does not take away your copyrights and receives permission from the authors to use and dissemination of the publication through the world's scientific resources (own electronic resources, scientometric databases, repositories, libraries, etc.).
In the absence of a signed License Agreement or in the absence of this agreement of identifiers allowing to identify the identity of the author, the editors have no right to work with the manuscript.
It is important to remember that there is another type of agreement between authors and publishers – when copyright is transferred from the authors to the publisher. In this case, the authors lose ownership of their work and may not use it in any way.
