Study On The Algorithm Of Mairtime Unmanned Surface Vehicle Autonomous Collision Avoidance Based On Ship Maneuvering

As a kind of unmanned surface vehicle(USV), maritime unmanned surfacevehicle which is mainly used in maritime regulatory and cruise, has been widelyapplied by many foreign countries. Research on maritime unmanned surface vehicletechnology is still in infancy. There is a lot of space to research for intelligentcollision avoidance technology which is one of the key technologies.Currently thestudy of its collision avoidance method includes two aspects, namely the global pathplanning and local path collision avoidance. But in the global path planning, risks andthe maneuverability of USV are rarely considered, and in the local collisioninfluenced by complex water environment, fewer persons research whether avoidancebehavior is validity or not, which for the execution of tasks actual applicationmeaning is small. To solve these problems, based on risks of path planning andmanipulation of motion characteristics of maritime USV collision avoidancealgorithm is presented.Firstly the development of USV is introduced and then it analyses and builds themotion modeling of the maritime USV. Global path planning is presented. Lastaffected by wind, flow and current, it focuses on analysis of the maritime USVautonomous collision avoidance.In global path planning, collision and delay risks are the main factors to consider,including a collection of Voronoi diagram and grids method; On the basis of globalpath planning maritime USV autonomous collision avoidance algorithm is presented.Due to interference by outside environment, USV which is located in the navigationenvironment and the actual trajectory of navigation are affected. Under the influenceof wind, flow and current, the force of vessel is researched, and the motion model ofUSV is built. Analysing maritime USV three degrees of freedom manipulator, it is tounderstand its trajectory condition. Speed obstacle avoidance method is to be appliedduring autonomous collision avoidance, with electronic (river) chart platformsimulating USV collision avoidance. The collision avoidance algorithm which is presented better than the currentlyapplied global path planning and local collision avoidance methods, allows maritimeUSV to perform tasks to autonomously real-time dynamic collision avoidance fordynamic targets, islands and other obstacles in a complex environment. The algorithmconsiders maneuvering motion characteristics of maritime USV’s collision avoidancein the process, thereby increasing the effectiveness of collision avoidance.It providesa guarantee for maritime USVsafe navigation.