Ship autonomous collision avoidance decision from the perspective of navigation practice

Navigation safety is an eternal theme for ships, and it is an inherent strategic requirement for both transportation powers and maritime powers. With the development of intelligent ships, how to make intelligent decisionmaking results consistent with maritime practice is the key to navigation safety. This paper constructs a complex water area collision avoidance decision-making model that conforms to maritime practice, providing autonomous collision avoidance decision-making schemes for manned or unmanned ships. Firstly, based on the nonlinear velocity obstacle method, dynamic constraints such as ship maneuverability, target ship motion uncertainty, Convention on the International Regulations for Preventing Collisions at Sea (COLREGs), and good seamanship are fully considered, and a safe collision avoidance action plan is solved in the velocity domain; Then, by introducing an overshoot coefficient to improve the line of sight method, a feasible collision avoidance decision plan is derived by searching for a resumption navigation plan based on the safe avoidance action plan; Finally, collision avoidance decision plan is optimized to achieve autonomous collision avoidance decisionmaking for ships. To verify the effectiveness of the proposed model, a series of case studies, which focus on different encounter situations are designed and executed, the results indicate that the outcome of the model consistently aligns with real-world scenarios, which is in line with maritime practice.