Research of Automatic Collision Avoidance Based on Ship Maneuvering

The research of automatic collision avoidance has important significance for the safety and economic of sailing. In the traditional geometry mathematical model of collision avoidance, the values of DCPA and TCPA are too large after turning or changing speed, there exists a potential risk in the actual navigation. In this paper, we present an automatic collision avoidance system based on mathematical model group (MMG) separation type model. We take advantage of Google Earth's geographic environment and establish a three-degree-freedom mathematical model group of ship to achieve the performance research. Results show that ship's collision avoidance trajectory based on model closer to the target ship than in the condition without adding model and the DCPA values are clearly smaller after adding model during the progress of collision avoidance. Therefore, the combination of ship maneuvering in ship collision avoidance is more accordant with practical conditions.