Fast Collision Avoidance Method Based on Velocity Resolution for Unmanned Surface Vehicle

The Unmanned Surface Vehicles (USVs) have the characteristics of small volume, fast speed, and its application field is often in unknown complex ocean environment. Therefore, it is necessary to solve the fast collision avoidance problem of USV in unknown ocean environment. To solve this problem, a fast collision avoidance method based on velocity resolution is proposed. The motion constraint of the USV in the method is mainly based on the Lanxin USV of Dalian Maritime University. Finally, the safety and rapidity of the method are verified in the complex static and dynamic environments, which can provide a reference for the research of collision avoidance technology about USV.