Collision-avoidance path planning for multi-ship encounters considering ship manoeuvrability and COLREGs

Ship collision prevention has always been a hot topic of research for navigation safety.Recently,autonomous ships have gained much attention as a means of solving collision problems by machine control with a collision-avoidance algorithm.An important question is how to determine optimal path planning for autonomous ships.This paper proposes a path-planning method of collision avoidance for multi-ship encounters that is easy to realize for autonomous ships.The ship course-control system uses fuzzy adaptive proportion-integral-derivative(PID)control to achieve real-time control of the system.The automatic course-altering process of the ship is predicted by combining the ship-motion model and PID controller.According to the COLREGs,ships should take different actions in different encounter situations.Therefore,a scene-identification model is established to identify these situations.To avoid all the TSs,the applicable course-altering range of the OS is obtained by using the improved velocity obstacle model.The optimal path of collision avoidance can be determined from an applicable course-altering range combined with a scene-identification model.Then,the path planning of collision avoidance is realized in the multi-ship environment,and the simulation results show a good effect.The method conforms to navigation practice and provides an effective method for the study of collision avoidance.