Collision risk measure for triggering evasive actions of maritime autonomous surface ships

Collision risk assessment is essential for supporting collision avoidance, which is the core of various collision alert/avoidance systems. One main task of the systems is setting off alarms for taking evasive actions. The alarms need to be triggered before the conflict has no collision-free solution. However, most of existing collision risk...

Generalized velocity obstacle algorithm for preventing ship collisions at sea

Numerous methods have been developed for ship collision prevention over the past decades. However, most studies are based on strong assumptions, such as the need for a constant velocity of the target-ship, the limitation to two-ship scenarios, the simplification of ships’ dynamics, etc. Generalized Velocity Obstacle (GVO) algorithm can bridge...