Print Email Facebook Twitter Dynamic anti-collision A-star algorithm for multi-ship encounter situations Title Dynamic anti-collision A-star algorithm for multi-ship encounter situations Author He, Zhibo (Wuhan University of Technology) Liu, Chenguang (Wuhan University of Technology) Chu, Xiumin (Wuhan University of Technology) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Wu, Qing (Wuhan University of Technology) Date 2022 Abstract For the complex multi-ship encounter scenarios, this article proposes a dynamic collision avoidance path planning algorithm based on the A-star algorithm and ship navigation rules, namely Dynamic Anti-collision A-star (DAA-star) algorithm. A dynamic search mechanism of the DAA-star algorithm considering time factors is designed to enable the collision avoidance for situations with known moving obstacles. A quaternion ship domain is generated based on Automatic Identification System (AIS) data, and the navigation risk cost is calculated with the combination of the quaternion ship domain and potential field. The searching constraints conforming with the Regulations for Preventing Collision at Sea (COLREGS) rules are set for the DAA-star algorithm to guarantee the safety of collision avoidance. Meanwhile, the individual ship maneuverability constraints and maneuverability differences from ship to ship are both considered in the proposed DAA-star algorithm, which can solve the path planning problem with dynamic obstacles in multi-ship encounter scenarios. The simulation results show that, compared with the traditional A-star algorithm and dynamic A-star algorithm, the DAA-star algorithm can generate more reasonable dynamic and static obstacle avoidance paths in complex navigation scenarios in the trade-off between the navigation risk and economical efficiency. Subject A-star algorithmCOLREGSDynamic anti-collisionMulti-ship encounterShip domain To reference this document use: http://resolver.tudelft.nl/uuid:57c1423c-de64-4caf-95a5-21228dc312c3 DOI https://doi.org/10.1016/j.apor.2021.102995 Embargo date 2023-07-01 ISSN 0141-1187 Source Applied Ocean Research, 118 Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 Zhibo He, Chenguang Liu, Xiumin Chu, R.R. Negenborn, Qing Wu Files PDF 1_s2.0_S0141118721004570_main_1.pdf 7.95 MB Close viewer /islandora/object/uuid:57c1423c-de64-4caf-95a5-21228dc312c3/datastream/OBJ/view