• Title/Summary/Keyword: Risk Level 다중 장애물

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A Study on the Method of Estimating the Baseline Risk Level of Multiple Obstacles situation Avoidance Based on COLREG for each Obstacles (다중 장애물 상황에서 COLREG를 바탕으로 장애물 회피의 기초 위험도 산정 방법에 관한 연구)

  • Kim, Dae-Hui
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2019.05a
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    • pp.195-196
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    • 2019

  • Studied for multiple obstacle avoidance algorithm based on COLREG for autonomous navigation vessel's safety navigation. By used VECTOR value of external obstacle provided by RADAR, CPA and TCPA of each obstacle are analyzed, and the obstacle is classified based on the value, the risk level is calculated considering multiple obstacle avoidance situations, and the avoidance action is applied to secure minimum safety situation.

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