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eng MULTI-VESSELS COLLISION AVOIDANCE STRATEGY FOR AUTONOMOUS SURFACE VEHICLES BASED ON GENETIC ALGORITHM IN CONGESTED PORT ENVIRONMENT
Wu, Gongxing; Li, Yuchao; Jiang, Chunmeng; Wang, Chao; Guo, Jiamin; Cheng, Rui
Brodogradnja Vol. 73, No. 3, 2022
An improved genetic collision avoidance algorithm is proposed in this study to address the problem that Autonomous Surface Vehicles (ASV) need to comply with the collision avoidance rules at sea in congested sea areas. Firstly, a collision risk index model for ASV safe encounters is established taking into account the international rules for collision avoidance. The ASV collision risk index and the distance of safe encounters are taken as boundary values of the correlation membership function of the collision risk index model to calculate the o...
Hrčak ID: 281106