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Publications
Li, HB., Wang, Xin, Guedes Soares, C. and Ni, S.K. (2024), A collision avoidance decision-making scheme based on artificial potential fields and event-triggered control, Ocean Engineering, Vol. 306, 118101.
In this article, a collision avoidance decision-making scheme is proposed based on improved artificial potential field and event-triggered-based nonlinear model predictive control. The dynamic collision avoidance parameter mathematical model is applied to calculate the collision avoidance parameters between ships. Combining the requirements of the International Regulations for Preventing Collisions at Sea (COLREGs), the collision avoidance parameters are used as the main index to reconstruct the artificial potential field. Subsequently, the anti-collision decision-making scheme is developed by introducing the event-triggered mechanism and incorporating the artificial potential field method into the objective function of the control algorithm. Following this approach, the adverse effects of ignoring the ship's maneuverability characteristics in the process of preventing collision are eliminated, and autonomous anti-collision decision-making is realized by following the relevant rules of COLREGs. The presented scheme can provide an optimal collision avoidance action and the setting of the event-triggered conditions saves a considerable part of computational resources. Finally, the simulation examples verify the effectiveness and rationality of the proposed scheme for multi-ship encounter scenarios.
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