Speed and heading control-based collision avoidance for a ship towing system

Collision avoidance is a priority task for ensuring the safety of a maritime transportation system. However, for a ship towing system, which is characterized by multiple vessels and physical connections, the research works about collision avoidance is limited. Thus, this paper proposes a speed and heading control-based conflict resolution of...

Learning to Play Trajectory Games Against Opponents with Unknown Objectives

Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable algorithms for such problems usually rely on a strong assumption, namely that the objectives of all players in...

A conflict cluster-based method for collision avoidance decision-making in multi-ship encounter situations

During the process of collision avoidance, especially in a multi-ship encounter situation, the dynamic interactions among individual ships impose a significant impact on collision avoidance decision-making. It is imperative, therefore, that collision avoidance decisions are formulated with a comprehensive consideration of not only the current...

Optimizing the joint collision avoidance operations of multiple ships from an overall perspective

Ship collision is the main type of maritime accidents, which causes great losses on human lives and economy, and brings negative impacts to the maritime environment. In crowded waters such as the sea area near a seaport, multiple ships encountering situations happen frequently. While several methods have been proposed for solving multiple...

Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

Over the past two decades, a number of methods have been proposed for solving maritime collision avoidance problems. Most of these works take a single ship's perspective and focus on one-to-one or one-to-many situations. To more complicated many-to-many situations, less attention has been paid. To deal with the many-to-many collision...