Autonomous ship navigation with an enhanced safety collision avoidance technique

doi:10.1016/j.isatra.2023.10.019

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进控制与自动化团队

	Autonomous ship navigation with an enhanced safety collision avoidance technique
	Ali, Hub 1,2; Xiong, Gang 1,3; Tianci, Qu 1,2; Kumar, Rajesh 4; Dong, Xisong 1,5; Shen, Zhen 1,5,6
刊名	ISA TRANSACTIONS
	2024
卷号	144 页码:271-281
关键词	Motion planning Obstacle avoidance Autonomous marine vehicle
ISSN号	0019-0578
DOI	10.1016/j.isatra.2023.10.019
通讯作者	Shen, Zhen(zhen.shen@ia.ac.cn)
英文摘要	The motion of an autonomous ship is different from that of ground and aerial robots due to its maneuvering and environmental constraints. As a result, many techniques have been introduced for autonomous ship path planning. This paper presents a novel technique for global and local navigation planning of autonomous ships under complex static and dynamic constraints. Our technique, termed safety -enhanced path planning (SPP), has been developed to avoid potential collisions with underwater obstacles near seaside areas. SPP pre-processes the map to preserve the shape of visible obstacles and mark a safety -outline around the shores. Subsequently, an offset safety line (OSL) is drawn about the original shore to protect the ship when passing close to threat -defined offshore areas. The global path is produced with an enhanced A* multi -directional algorithm, considering the kinematic constraint of the ship. To ensure optimal path quality, the global path is further refined with a smoothing filter to improve consistency and smoothness. Additionally, local navigation is introduced to help the autonomous ship avoid collisions with other obstacle ships. Local offset trajectories are produced with 4th and 5th degree polynomials along longitudinal and lateral coordinates in time t. Distance closest point approach (DCPA) is utilized for early obstacle prediction to help the ship maneuver in complex dynamic obstacle avoidance scenarios. The trajectory set is filtered with an efficient cost policy to obtain the best trajectory for dynamic collision avoidance. We conduct simulations in MATLAB and compared with other maritime path planning methods to verify the effectiveness of our approach.
资助项目	National Natural Science Foundation of China[U19B2029] ; National Natural Science Foundation of China[U1909204] ; China Academy of Railway Sciences Corporation Limited Project[RITS2021KF03] ; Guangdong Basic and Applied Basic Research Foundation[2021B1515140034] ; CAS STS Dongguan Joint Project[20211600200022] ; CAS STS Dongguan Joint Project[20201600200072]
WOS关键词	PATH ; SYSTEM
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	ELSEVIER SCIENCE INC
WOS记录号	WOS:001168157700001
资助机构	National Natural Science Foundation of China ; China Academy of Railway Sciences Corporation Limited Project ; Guangdong Basic and Applied Basic Research Foundation ; CAS STS Dongguan Joint Project
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/57769]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者	Shen, Zhen
作者单位	1.Chinese Acad Sci, Beijing Engn Res Ctr Intelligent Syst & Technol Au, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Guangdong Engn Res Ctr Printing & Intelligent Mfg, Cloud Comp Ctr, Donggguan 523808, Peoples R China 4.Univ Elect Sci & Technol China, Yangtze Delta Reg Inst Huzhou, Huzhou 313001, Peoples R China 5.Qingdao Acad Intelligent Ind, Qingdao 266109, Peoples R China 6.Chinese Acad Sci, Inst Automat, 95 Zhongguancun E Rd, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Ali, Hub,Xiong, Gang,Tianci, Qu,et al. Autonomous ship navigation with an enhanced safety collision avoidance technique[J]. ISA TRANSACTIONS,2024,144:271-281.
APA	Ali, Hub,Xiong, Gang,Tianci, Qu,Kumar, Rajesh,Dong, Xisong,&Shen, Zhen.(2024).Autonomous ship navigation with an enhanced safety collision avoidance technique.ISA TRANSACTIONS,144,271-281.
MLA	Ali, Hub,et al."Autonomous ship navigation with an enhanced safety collision avoidance technique".ISA TRANSACTIONS 144(2024):271-281.