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Research on Local Collision Avoidance Algorithm for Unmanned Ship Based on Behavioral Constraints

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Bio-Inspired Computing: Theories and Applications (BIC-TA 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 2062))

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Abstract

Aiming at the problem that the global planning path of the unmanned vehicle is difficult to meet the requirements of the motion and maneuvering characteristics of the unmanned vehicle, a local collision avoidance algorithm based on behavioral constraints is designed. Through the analysis of the collision avoidance scene and motion characteristics of the unmanned boat, the behavioral constraints that meet the motion characteristics of the unmanned boat, dynamic obstacle collision avoidance, and maritime collision avoidance rules are constructed. The optimization objective function of heading and speed is established, and the optimal heading and speed values for collision avoidance are obtained by solving the objective optimization problem. Combining the above path planning and local collision avoidance algorithm, a collision avoidance scheme is given. The local collision avoidance behavior is constrained by the global path, so that the unmanned vehicle can return to the optimal path. The simulation shows the effectiveness of the algorithm proposed in this paper.

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Author information

Authors and Affiliations

  1. Marine Equipment Major Project Center, Beijing, 100841, China

    Junjun Wang

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  1. Junjun Wang
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Correspondence to Junjun Wang .

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Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, China

    Linqiang Pan

  2. Central South University, Changsha, China

    Yong Wang

  3. Huazhong University of Science and Technology, Wuhan, China

    Jianqing Lin

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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wang, J. (2024). Research on Local Collision Avoidance Algorithm for Unmanned Ship Based on Behavioral Constraints. In: Pan, L., Wang, Y., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2023. Communications in Computer and Information Science, vol 2062. Springer, Singapore. https://doi.org/10.1007/978-981-97-2275-4_31

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  • DOI: https://doi.org/10.1007/978-981-97-2275-4_31

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-97-2274-7

  • Online ISBN: 978-981-97-2275-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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