Dynamic anti-collision A-star algorithm for multi-ship encounter situations

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...

Model predictive ship collision avoidance based on Q-learning beetle swarm antenna search and neural networks

Real-time collision avoidance with full consideration of ship maneuverability, collision risks and International Regulations for Preventing Collisions at Sea (COLREGs) is difficult in multi-ship encounters. To deal with this problem, a novel method is proposed based on model predictive control (MPC), an improved Q-learning beetle swarm...

Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels

Since vessel dynamics could vary during maneuvering because of load changes, speed changing, environmental disturbances, aging of mechanism, etc., the performance of model-based path following control may be degraded if the controller uses the same motion model all the time. This article proposes an adaptive path following control method...