A Decision-Making Method for Autonomous Collision Avoidance for the Stand-On Vessel Based on Motion Process and COLREGs

A great number of collision accidents can be attributed to incongruous collision-avoidance actions between the give-way vessel and stand-on in a crossing or overtaking situation. If does not take appropriate action according international regulations for preventing collisions at sea, last barrier pass safely is effective taken by vessel. To find proper autonomous vessel, method proposed that combines quantitative analysis rules with deduction nonlinear maneuvering motion process based on mathematical model group, which conformity reach 90%. This research presents calculate timing most four-stage theory encountering vessels characteristics motion. The accuracy latest-action amplitude increased level second degree, respectively. novel risk index constructed latest time feasible precise different course-altering amplitude. Methods vessel’s open sea are presented. simulation indicates make correct decisions autonomously.