부산대학교 도서관

To solve the problem that velocity obstacle method cannot effectively reflect the safe encounter distance in ship collision avoidance, the ship domain, dynamic boundary, and “Convention on the International Regulations for Preventing Collisions at Sea, 1972” are introduced into velocity obstacle method to determine the timing of ships to take collision avoidance actions, avoiding yaw and collision problems caused by early or late collision avoidance. In open water, motion simulation experiments are conducted on two ships in situations including head-on, crossing, overtaking, and emergency, and compared with traditional velocity obstacle method. The results demonstrate that this algorithm can perform collision avoidance behavior more safely compared to traditional VO algorithm. It can maintain minimum safe distance for collision avoidance in different scenarios, which verifies the feasibility of this method for local collision avoidance of ships.