Chinese Journal of Ship Research, Volume. 19, Issue 4, 227(2024)

Dynamic collision avoidance method of unmanned sailboat based on improved fast-marching square method

Wentao ZHAO1,2, Longyue JING3, Zhaoyang SUN1,2, Yan HUANG1,2, and Hualong XIE3
Author Affiliations
  • 1State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
  • 2Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
  • 3School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
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    References(18)

    [2] LIU B X, YANG Y N, WANG S X et al. A dual-modal unmanned vehicle propelled by marine energy: design, stability analysis and sea trial[J]. Ocean Engineering, 247, 110702(2022).

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    [8] [8] KHATIB O. Realtime obstacle avoidance f manipulats mobile robots[M]COX I J, WILFONG G T. Autonomous Robot Vehicles. New Yk: Springer, 1986: 396−404.

    [9] FOX D, BURGARD W, THRUN S. The dynamic window approach to collision avoidance[J]. IEEE Robotics & Automation Magazine, 4, 23-33(1997).

    [11] SETHIAN J A. A fast marching level set method for monotonically advancing fronts[J]. Proceedings of the National Academy of Sciences of the United States of America, 93, 1591-1595(1996).

    [14] HAN S, WANG L, WANG Y T. A COLREGs-compliant guidance strategy for an under actuated unmanned surface vehicle combining potential field with grid map[J]. Ocean Engineering, 255, 111355(2022).

    [15] REN J, ZHANG J, CUI Y N. Autonomous obstacle avoidance algorithm for unmanned surface vehicles based on an improved velocity obstacle method[J]. ISPRS International Journal of Geo-Information, 10, 618(2021).

    [24] [24] IMO. Convedntion on the international regulations f preventing collisions at sea, 1972 (COLREGs)[EBOL].(20220715) [20221214]. https:www.imo.genAboutConventionsPagesCOLREG.aspx.

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    Wentao ZHAO, Longyue JING, Zhaoyang SUN, Yan HUANG, Hualong XIE. Dynamic collision avoidance method of unmanned sailboat based on improved fast-marching square method[J]. Chinese Journal of Ship Research, 2024, 19(4): 227

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    Paper Information

    Category: Ship Design and Performance

    Received: Jan. 5, 2023

    Accepted: --

    Published Online: Mar. 14, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03241

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