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A method for unmanned vessel autonomous collision avoidance based on model predictive control
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DOI：10.1080/21642583.2021.1986752.png)
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Abstract
En 中文
Aiming at the problem of autonomous collision avoidance of unmanned vessels in the case of multiple vessels encountering at sea, this paper proposes a method for collision avoidance of vessels in open water based on the Mathematical Model Group (MMG) vessel motion mathematical model. This method uses Model Predictive Control (MPC) model algorithm, and considers vessel maneuverability and the International Regulations for Preventing Collision at Sea, 1972 (COLREGs), and uses fuzzy mathematics to analyze the collision risk of vessels during navigation, and then constructs the evaluation function of the collision avoidance algorithm. The vessel's autonomous collision avoidance is realized. The simulation results show that the algorithm can solve the problem of autonomous vessel collision avoidance in the case of multi-vessel encounters in open water, which verifies the effectiveness of the algorithm.
Keywords:
Model predictive control
unmanned vessel
collision avoidance
collision risk
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