Publications

Zhang, J.F., Zhang, D., Yan, X.P., Haugen, S. e Guedes Soares, C. (2015), “A distributed anti-collision decision making formulation in multi-ship encounter situations under COLREGs”, Ocean Engineering, Vol. 105, pp. 336-348

Multi-ship anti-collision decision making is studied in a distributed and real time way in this article. Under the general requirements from COLREGs rules and regulations, the performance of steering and changing speed in collision avoidance in some typical encounter situations is graphically analyzed for both give-way and stand-on ships. Based on the analysis, the initial decision on collision avoidance by steering or speed changing is made according to the encounter situation between own ship and target ships. Linear extension algorithms are designed for both course and speed alteration to keep clearance of all the target ships that own ship should avoid. Simulation results indicate that the anti-collision formulation can avoid collision when all the ships are complied with COLREGs as well as when some of them do not take actions. The results also show that the violation of COLREGs can sometimes make the encounter situation more complicated.

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