Automatic collision avoidance of ships

Automatic Collision Avoidance Systems: Towards 21st Century

More than about sixty per cent of casualties at sea are caused by collisions ref.1. So the results from the solution to this problem is the most urgent issue that we must face. Many measures have already been developed, but the ACAS will be new and possibly one of the most effective. A large proportion of accidents are caused by human error and the right approach to automation could help to red...

Automatic lateral emergency collision avoidance for a passenger car

Fuzzy Decision on Optimal Collision Avoidance Measures for Ships in Vessel Traffic Service

This article proposes a new collision avoidance decision method for ships, allowing ships at risk of collision to take timely collision avoidance measures to ensure safe passage. Through vessel traffic service (VTS) collision alert system, an analysis can be made for the probability of a ship collision and an early warning can be issued. For ships in potential collision danger, the proposed met...

Optimization-Based Collision Avoidance

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid obstacles while moving in an n-dimensional space. The proposed reformulation does not introduce approximations, and applies to general obstacles and controlled...

Generalized reciprocal collision avoidance

Reciprocal collision avoidance has become a popular area of research over recent years. Approaches have been developed for a variety of dynamic systems ranging from single integrators to car-like, differential-drive, and arbitrary, linear equations of motion. In this paper, we present two contributions. First, we provide a unification of these previous approaches under a single, generalized rep...