Ship collision is the most common accident on sea and usually causes financial loss and environmental pollution. Therefore, ship collision prevention always drew numerous attention in the maritime domain. Although some traditional approaches have been widely used in practice, e.g
...
Ship collision is the most common accident on sea and usually causes financial loss and environmental pollution. Therefore, ship collision prevention always drew numerous attention in the maritime domain. Although some traditional approaches have been widely used in practice, e.g. CPA (Closest Point of Approach) and CTPA (Collision Threat Parameters Area), they all assume that the ships are moving in straight-lines with constant speed which is far away from practice. To overcome this problem, we introduce the non-linear velocity obstacle (abbr. NL-VO) algorithm to improve the CTPA approach. By this improvement, a collision avoidance with non-linearly moving target-ships (TS) is available. TSs with different motions, e.g. a varying velocity, accelerating and turning, are employed in three scenarios to demonstrate the NL-VO algorithm. The result shows that the traditional approach fails in these cases, but the NL-VO can fulfil the functions: judge whether the own-ship (OS) is in danger and find a proper collision-free path.@en
