Local Collision Avoidance Algorithm for a Unmanned Surface Vehicle Based on Steering Maneuver Considering COLREGs

In order to sail safely in a marine environment with neighboring obstacles, local collision avoidance algorithm based on steering maneuver considering International Regulations for Preventing Collisions at Sea (COLREGs) is proposed unmanned surface vehicles (USVs). this paper, the consists of three parts: risk assessment, occasion determination, and navigation waypoint update. The assessment used judge an analytical feasible angle interval by closest point approach method. determination provides safe distance from obstacle analyzing marginal angular velocity. update generates temporary navigate USV considers overtaking, head-on, crossing rules COLREGs. calculated real-time optimal orientation angle, which determined optimization objective function deviation. parts are finite state machine. simulations, actual dynamic constraints runs successfully static multiobstacle environment, results indicate feasibility validity algorithm.