Research on Collision Avoidance Decision-making of Multiple Intelligent Ships Based on Route Exchange

Vessel collision or near-collision situation is the primary issue in intelligent navigation. Officer on watch (OOW) faces collision avoidance decision-making based on situational awareness and intention recognition. However, in a multi-ship encounter situation, confusion of situational awareness and unclear intentions would make the decision much more complex. Only by collaborating and jointly planning collision avoidance strategies can the collision risk be effectively reduced. In order to make the ship intelligent collision avoidance strategy collaborative, safe and practical, a ship collaborative collision avoidance decision method based on route exchange is proposed. Firstly, the method of identifying ship encounter situations that design a collision risk assessment mechanism is studied and the tactical route exchange model is constructed. Secondly, the ship route exchange is carried out, in which the PSO algorithm is used to plan the trajectories of the conflicting ships in accordance with the collision avoidance rules. Subsequently, Determining and navigating along the accepted route through route exchange and negotiation. Finally, simulation experiment is carried out for the multi-ship encounter situation. The results show that on the basis of route exchange, the planning trajectories are more accurate and meet the practical requirements, which provides a new solution for improving the intelligent navigation and ensuring navigation safety.