A Decision-Making Method for Autonomous Collision Avoidance for the Stand-On Vessel Based on Motion Process and COLREGs
Bing Wang, Yixiong He, Weixuan Hu, Junmin Mou, Liling Li, Ke Zhang, Liwen Huang
Abstract
A great number of collision accidents can be attributed to incongruous collision-avoidance actions between the give-way vessel and the stand-on vessel in a crossing or overtaking situation. If the give-way vessel does not take appropriate collision-avoidance action according to international regulations for preventing collisions at sea, the last barrier to pass safely is the appropriate and effective collision-avoidance action taken by the stand-on vessel. To find the proper autonomous collision-avoidance action of the stand-on vessel, a method is proposed that combines quantitative analysis rules of collision-avoidance with the deduction of nonlinear maneuvering motion process based on the mathematical model group, which conformity can reach 90%. This research presents a method to calculate the timing and most effective collision-avoidance actions for the stand-on vessel based on the four-stage theory of encountering vessels and the characteristics of vessel motion. The accuracy of the latest-action timing and the action amplitude for the stand-on vessel can be increased to the level of second and degree, respectively. A novel model of collision risk index is constructed by the latest time of the feasible collision-avoidance action on the precise of different course-altering amplitude. Methods to find the stand-on vessel’s proper collision-avoidance actions in the open sea are presented. The simulation indicates the proposed method for the stand-on vessel can make correct collision-avoidance decisions autonomously.