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Publications
Zhang, H., Zhang, J.F., Shi, T. and Guedes Soares, C. (2022), “A dynamic Rapid-exploring Random Tree algorithm for collision avoidance for multi-ship encounter situations under COLREGs”, Trends in Maritime Technology and Engineering, Guedes Soares, C. & Santos T.A. (Eds.), Taylor and Francis, London, UK, Vol. 2, pp. 161-172.
Autonomous collision-free path planning has been one of the most important components for Intelligent Ship (IS) technology. The IS should have the ability to find a safe and economical path within a limited time under complex environment with both static and dynamic obstacles, while following the requirements from International Regulations for Preventing Collisions at Sea (COLREGs). In this paper, a dynamic Rapid-exploring Random Tree (RRT) algorithm is proposed under multi-ship encounter situations in open waters. First, the Quaternion Ship Domain (QSD) model is introduced to reflect collision risk between ships. Based on the QSD model, the collision detection procedure between two moving ships under dynamic situations is constructed. Then, a tree-grow strategy is formulated to find the feasible paths for own ship from start point to destination. In order to consider the restriction of COLREGs, a random and uniform sampling method within an ellipse is formulated to perform path re-planning. The turning angle between consecutive segments of the path tree is also restricted according to ship manoeuvrability. A multi-ship encounter situation is formulated to evaluate the performance of the proposed method and the results indicate its feasibility and efficiency.
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