Artificial Potential Field and Ship Maneuverability based Collision Avoidance Path Planning

In terms of the current researches on ship-to-ship avoidance algorithms, the impact of ship's length, maneuverability and International Regulations for Preventing Collisions at Sea (COLREGs) on ship collision avoidance are not fully considered, this paper combines the cooperative ship domain model with the artificial potential field (APF) method to consider the impact of the large difference in length of the two ships on close collision avoidance; and introduces the ship maneuvering motion control model into the algorithm to consider the influence of ship maneuverability on collision avoidance; then discusses the collision avoidance actions that should be taken by the stand-on vessel in compliance with COLREGs when there is a responsibility for avoidance between the two ships and the give-way vessel fails to take collision avoidance measures. Finally, the simulation programs show that the method proposed in this paper is reasonable, effective and meeting the actual application.