Ship collision avoidance control based on improved velocity obstacle method

Abstract The velocity obstacle method has extensive research in collision avoidance, which uses circles to represent robots or ships find a collision-free velocity. To better describe the motion characteristics of ships, an improved based on elliptical ship domain is proposed this paper. In previous domains own and target are seldom considered at same time. This paper considers time judges whether two overlap generalized characteristic polynomial. heading angle discretized construct (VO) by calculating different angles. Velocities boundaries used optimal angle. algorithm tested encounter situations successfully realizes avoidance.