Distributed Multi-Objective Algorithm for Preventing Multi-Ship Collisions at Sea

Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identi...

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Bibliographic Details
Published in:Journal of navigation Vol. 73; no. 5; pp. 971 - 990
Main Authors: Li, Jinxin, Wang, Hongbo, Guan, Zhiying, Pan, Chong
Format: Journal Article
Language:English
Published: Cambridge, UK Cambridge University Press 01.09.2020
Subjects:
Algorithms
Avoidance behaviour
Collision avoidance
Collision dynamics
Collisions
Communication
Methods
Multiple objective analysis
Navigational safety
Safety
Ships
Trajectory planning
Velocity
Distributed Local Search Algorithm
Bi-Criterion Evolution
Multiple Ships Collision Avoidance
Velocity Obstacle Algorithms
ISSN:0373-4633, 1469-7785
Online Access:Get full text
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Summary:Avoidance of collisions at sea is crucial to navigational safety. In this paper, we use a distributed algorithm to communicate the entire collision avoidance trajectory information for each ship. In each communication, we suggest a new improvement function considering safety and efficiency to identify the avoidance ship in each cycle. Considering the nonlinear collision avoidance trajectory of ships, a new method for calculating the degree of danger using a velocity obstacle algorithm is proposed. Therefore, in each communication, each ship considers the avoidance behaviours of other ships in planning its avoidance trajectory. Additionally, we combine bi-criterion evolution (BCE) and the ant lion optimiser to plan the entire collision avoidance path. Three scenarios are designed to demonstrate the performance of this method. The results show that the proposed method can find a suitable collision-free solution for all ships.
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ISSN:0373-4633
1469-7785
DOI:10.1017/S0373463320000053