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http://dx.doi.org/10.3744/SNAK.2021.58.3.191

Automatic Ship Collision Avoidance in Narrow Channels through Curvilinear Coordinate Transformation  

Cho, Yonghoon (Mechanical engineering, KAIST)
Kim, Jonghwi (Mechanical engineering, KAIST)
Kim, Jinwhan (Mechanical engineering, KAIST)
Publication Information
Journal of the Society of Naval Architects of Korea / v.58, no.3, 2021 , pp. 191-197 More about this Journal
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
Automatic collision avoidance; Narrow channel; Curvilinear coordinates; B-spline;
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