COLREGs: Compliant Dynamic Obstacle Avoidance of USVs Based on theDynamic Navigation Ship Domain

Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based approach USVs in compliance with COLREGs. Based on the detected information, can not only infer collision risk, but also plan local path trajectory make appropriate maneuvers. Firstly, analytical DNSD model established taking into account parameters, maneuverability, sailing speed, and encounter situations regarding Thus, DNSDs of own target ships are utilized trigger mode determine whether when USV should Then, planner generates new waypoints plans trajectory. Simulations were implemented single under different multiple obstacles. The results demonstrated effectiveness superiority proposed DNSD-based algorithm.