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

The Society of Naval Architects of Korea (대한조선학회)
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Event-Triggered NMPC-Based Ship Collision Avoidance Algorithm Considering COLREGs

국제해상충돌예방규칙을 고려한 Event Triggered NMPC 기반의 선박 충돌 회피 알고리즘

  • Yeongu Bae (Department of Naval Architecture and Ocean Engineering, Chungnam National University) ;
  • Jaeha Choi (Department of Naval Architecture and Ocean Engineering, Chungnam National University) ;
  • Jeonghong Park (Advanced-intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering) ;
  • Miniu Kang (Advanced-intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering) ;
  • Hyejin Kim (Advanced-intelligent Ship Research Division, Korea Research Institute of Ships and Ocean Engineering) ;
  • Wonkeun Yoon (Department of Autonomous Vehicle System Engineering, Chungnam National University)
  • 배영우 (충남대학교 선박해양공학과) ;
  • 최재하 (충남대학교 선박해양공학과) ;
  • 박정홍 (한국해양과학기술원 부설 선박해양플랜트연구소 지능형선박연구본부) ;
  • 강민주 (한국해양과학기술원 부설 선박해양플랜트연구소 지능형선박연구본부) ;
  • 김혜진 (한국해양과학기술원 부설 선박해양플랜트연구소 지능형선박연구본부) ;
  • 윤원근 (충남대학교 자율운항시스템공학과)
  • Received : 2023.01.30
  • Accepted : 2023.04.04
  • Published : 2023.06.20
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Abstract

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

Keywords

Acknowledgement

이 논문은 2023년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원과 2023년도 정부(해양수산부) 재원으로 해양수산과학기술진흥원의 지원을 받아 수행된 연구임. ((P0017006, 2023년 산업혁신인재성장지원사업), (1525014528, "스마트항만-자율운항선박 연계기술 개발"))

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