MULTI-VESSELS COLLISION AVOIDANCE STRATEGY FORAUTONOMOUS SURFACE VEHICLES BASED ON GENETICALGORITHM IN CONGESTED PORT ENVIRONMENT

[摘要] An improved genetic collision avoidance algorithm is proposed in this study to addressthe problem that Autonomous Surface Vehicles (ASV) need to comply with the collisionavoidance rules at sea in congested sea areas. Firstly, a collision risk index model for ASVsafe encounters is established taking into account the international rules for collisionavoidance. The ASV collision risk index and the distance of safe encounters are taken asboundary values of the correlation membership function of the collision risk index model tocalculate the optimal heading of ASV in real-time. Secondly, the genetic coding, fitnessfunction, and basic parameters of the genetic algorithm are designed to construct the collisionavoidance decision system. Finally, the simulation of collision avoidance between ASV andseveral obstacle vessels is performed, including the simulation of three collision avoidancestates head-on situation, crossing situation, and overtaking situation. The results show that theproposed intelligent genetic algorithm considering the rules of collision avoidance at sea caneffectively avoid multiple other vessels in different situations.

[学科分类] 工程和技术（综合）

[关键词] collision avoidance rules;collision risk index;genetic algorithm;collisionavoidance decision;autonomous surface vehicle