A CONTROL SYSTEM FOR MOVEMENT AND DIVERGENCE OF UNMANNED SHIP ACCORDING TO COLREG

A variant of unmanned ship control system with obstacle avoidance in accordance International Regulations for Preventing Collisions at Sea (COLREG) is proposed the paper. The consists three subsystems: trajectory subsystem, course and speed subsystem. subsystem generates a that allows you to move along predetermined trajectory. gradient vector auxiliary function algorithm used this. In this algorithm, alfa weight coefficient, which determines degree convergence given trajectory, set. To ensure more efficient it use variable value alfa, depends on condition coincidence direction route change one iteration. based method Velocity Obstacles, when all variants velocity vectors, collision an future possible, are determined provided does not maneuver. activated dangerous situation occurs. distance closest approach time following point calculated identify situation. Also, implements mechanism determining type compliance COLREG. total, four basic scenarios have been identified: head-on, crossing (obstacle moves left or right), overtaking. perform avoidance, cost calculated, best selected. selected transmitted implemented Matlab / Simulink modeling environment. simulation results confirmed operability system, ensures movement obstacles case situations