지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2025.2
- 수록면
- 103 - 121 (19page)
이용수
초록· 키워드
오류제보하기
Collision avoidance is essential for the safe navigation of unmanned surface vehicles (USVs). This paper proposes a multi-ship collision avoidance algorithm that integrates the quaternion ship domain (QSD) and collision risk index (CRI) to assess collision risk and generate optimal avoidance trajectories. The algorithm was used to evaluate target ships (TS) using the CRI values, adapt the ship domain based on QSD, and use the velocity obstacle (VO) method to determine feasible avoidance paths while adhering to the International Regulations for Preventing Collisions at Sea (COLREGs). Through 14 simulation scenarios, including single-ship, two-ship, and multi-ship encounters with unexpected TS maneuvers, the results revealed the ability of the algorithm to maintain safe separation distances in complex maritime traffic. The CRI-based approach allows real-time risk assessment and adaptive timing, while QSD adjusts dynamically based on the ship speed and encounter conditions, minimizing unnecessary maneuvers. This integration of QSD, CRI, and VO ensures COLREGs-compliant navigation, efficient path deviation management, and enhanced safety, contributing to the development of intelligent USV navigation systems.
목차
ABSTRACT
1. Introduction
2. Methodology
3. Collision Avoidance Procedure
4. Simulations and Discussion
5. Results
6. Conclusions
References
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