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http://dx.doi.org/10.6109/JKIICE.2007.11.1.181

A Collision Avoidance System for Intelligent Ship using BK-products and COLREGs  

Kang, Sung-Soo (진주산업대학교 컴퓨터공학부)
Lee, Young-Il (진주산업대학교 컴퓨터공학부)
Jung, Hee (진주산업대학교 컴퓨터공학부)
Kim, Yong-Gi (경상대학교 컴퓨터학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.11, no.1, 2007 , pp. 181-190 More about this Journal
Abstract
This paper presents a collision avoidance system for intelligent ship. Unlike collision avoidance system of other unmanned vehicles, the collision avoidance system for intelligent ship aims at not only deriving a reasonable and safe path to the goal but also keeping COLRECs(International Regulations for Preventing Collisions at Sea). The heuristic search based on the BK-products is adopted to achieve the general purpose of collision avoidance system; deriving a reasonable and safe path. The rule of action to avoid collision is adopted for the other necessary and sufficient condition; keeping the COLREGs. The verification of proposed collision avoidance system is performed with scenarios that represent encounter situations classified in the COLREGs, then it is compared with $A^{\ast}$ search method in view of optimality and safety. The analysis of simulation result revels that the proposed collision avoidance system is practical and effective candidate for real-time collision avoidance system of intelligent ship.
Keywords
BK곱;자율수중운동체;충돌회피;상세경로설정;지능항행시스템;평가함수;
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