ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Multi⁃USV cooperative collision avoidance based on velocity obstacle
Received date: 2023-10-24
Revised date: 2023-11-21
Accepted date: 2023-12-11
Online published: 2023-12-18
Supported by
National Key Research and Development Program of China(2020YFF0400101)
USVs will encounter unpredictable obstacles and other vessels and face the risk of collision when navigating. Such risks are exacerbated in heavy water traffic. Based on COLREGs， a cooperative collision avoidance method for multi-USVs is designed in this paper. This method combines the velocity obstacle method with the COLREGs， taking the existence of dynamic vessels and other obstacles into account. This method transforms the collision avoidance problem into a convex optimization problem， and provides collision avoidance reference signals in real-time. Simulation validations under various collision avoidance scenarios are carried out to show the reliability of the proposed method.
Xin HE , Zongying SHI , Yisheng ZHONG . Multi⁃USV cooperative collision avoidance based on velocity obstacle[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(S2) : 729758 -729758 . DOI: 10.7527/S1000-6893.2023.29758
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