Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
권호 표지
DOI QR코드

DOI QR Code

Automatic Ship Collision Avoidance in Narrow Channels through Curvilinear Coordinate Transformation

곡선좌표계 변환에 기반한 협수로에서 선박 자율 충돌회피

  • Received : 2021.03.22
  • Accepted : 2021.04.29
  • Published : 2021.06.20
Download PDF
⟨ Previous Next ⟩

Abstract

This study addresses autonomous ship collision avoidance in narrow channels using curvilinear coordinates. Navigation in narrow channels or fairways is known to be much more difficult and challenging compared with navigation in the open sea. It is not straightforward to apply the existing collision avoidance framework designed for use in the open sea to collision avoidance in narrow channels due to the complexity of the problem. In this study, to generalize the autonomous navigation procedure for collision avoidance in narrow channels, we introduce a curvilinear coordinate system for collision-free path planning using a parametric curve, B-spline. To demonstrate the feasibility of the proposed algorithm, ship traffic simulations were performed and the results are presented.

Keywords

Acknowledgement

이 연구는 2021년도 KAIST 연구원 자체연구사업의 지원에 의한 연구이며(N10210011), 2021년도 해양수산부 및 해양수산과학기술진흥원 연구비 지원으로 수행된 '자율운항선박 기술개발사업(20200615)'의 연구결과입니다.

References

  1. Buyval, A., Gabdulin, A., Mustafin, R., & Shimchik, I., 2017. Deriving overtaking strategy from nonlinear model predictive control for a race car. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 24-28 September 2017.
  2. Cho, Y. et al., 2019. Experimental validation of a velocity obstacle based collision avoidance algorithm for unmanned surface vehicles. 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), Daejeon, Korea, 18-20 September 2019.
  3. Cho, Y., Han, J., & Kim, J., 2020. Efficient COLREG-compliant collision avoidance in multi-ship encounter situations. IEEE Transactions on Intelligent Transportation Systems. early access, 20 October 2020, doi: 10.1109/TITS.2020.3029279.
  4. Frasch, J. V. et al., 2013, An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. 2013 European Control Conference (ECC), Zurich, Switzerland, 17-19 July 2013.
  5. Fossen, T.I., 2011. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons: New York.
  6. Han, J. et al., 2020. Autonomous collision detection and avoidance for ARAGON USV: Development and field tests. Journal of Field Robotics, 37(6), pp.987-1002. https://doi.org/10.1002/rob.21935
  7. Huang, Y. et al., 2020. Ship collision avoidance methods: State-of-the-art. Safety Science, 121, pp.451-473. https://doi.org/10.1016/j.ssci.2019.09.018
  8. International Maritime Organization (IMO), 1972. COLREGs-Convention on the International Regulations for Preventing Collisions at Sea, London: IMO.
  9. Jo, K., Lee, M., Kim, J., & Sunwoo, M., 2016. Tracking and behavior reasoning of moving vehicles based on roadway geometry constraints. IEEE transactions on intelligent transportation systems, 18(2), pp.460-476. https://doi.org/10.1109/TITS.2016.2605163
  10. Jo, K., Lee, M., & Sunwoo, M., 2017. Track fusion and behavioral reasoning for moving vehicles based on curvilinear coordinates of roadway geometries. IEEE Transactions on Intelligent Transportation Systems, 19(9), pp.3068-3075. https://doi.org/10.1109/TITS.2017.2759904
  11. Kufoalor, D.K.M, et al., 2020. Autonomous maritime collision avoidance: Field verification of autonomous surface vehicle behavior in challenging scenarios. Journal of Field Robotics, 37(3), pp.387-403. https://doi.org/10.1002/rob.21919
  12. Thyri, E.H., Breivik, M., & Lekkas, A.M., 2020. A path-velocity decomposition approach to collision avoidance for autonomous passenger ferries: concepts and full-scale experiments, 1st Virtual IFAC World Congress, Berlin, Germany, 11-17 July 2020.
  13. Wang, H., Kearney, J., & Atkinson, K. 2002, Arc-length parameterized spline curves for real-time simulation. 5th International Conference on Curves and Surfaces, France, 27 June-3 July 2002.
  14. Wang, W. et al., 2019. Roboat: An autonomous surface vehicle for urban waterways. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 4-8 November 2019.
  15. Woerner, K. et al., 2019. Quantifying protocol evaluation for autonomous collision avoidance. Autonomous Robots, 43(4), pp.967-991. https://doi.org/10.1007/s10514-018-9765-y