A Novel Driving-Strategy Generating Method of Collision Avoidance for Unmanned Ships Based on Extensive-Form Game Model with Fuzzy Credibility Numbers

This study aims to solve the problem of intelligent collision avoidance of unmanned ships at sea, and it proposes a novel driving strategy generating method of collision avoidance based on an extensive-form game mode with fuzzy credibility numbers. The innovation of this study is to propose an extensive-form game model of unmanned ships under the situation of two-sides clamping and verify the validity by fuzzy credibility. Firstly, this study divides the head-on situation of the ship at sea quantitatively to help the unmanned ship take targeted measures when making collision avoidance decisions. Secondly, this study adopts an extensive-form game model to model the problem of collision avoidance of an unmanned ship in the case of clamping on two sides. Thirdly, the extensive-form game model is organically combined with the fuzzy credibility degree to judge whether the collision avoidance game of unmanned ship achieves the optimal collision avoidance result. The effectiveness of the introduced game model is verified by case analysis and simulation. Finally, an illustrative example shows that the proposed mathematical model can better help unmanned ships make real-time game decisions at sea in the scenario of two-sides clamping effectively.