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

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