Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain
With the increasing proportion of ships in logistics and the growing prosperity of traffic in maritime, negotiation and cooperative collision avoidance between ships is becoming more and more essential for navigational safety. This paper proposes a Model Predictive Control method that utilizes inten...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/124 |
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| _version_ | 1832588219758149632 |
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| author | Hanxuan Zhang Yuchi Cao Qihe Shan Yukun Sun |
| author_facet | Hanxuan Zhang Yuchi Cao Qihe Shan Yukun Sun |
| author_sort | Hanxuan Zhang |
| collection | DOAJ |
| description | With the increasing proportion of ships in logistics and the growing prosperity of traffic in maritime, negotiation and cooperative collision avoidance between ships is becoming more and more essential for navigational safety. This paper proposes a Model Predictive Control method that utilizes intention data of the target ship and a quaternion ship domain model to achieve collision avoidance while considering COLREGs, named IQMPC. Firstly, by utilizing the intention data of other ships, trajectories of the own ship and the target ship are well predicted to detect potential collision risks and take optimal avoidance actions in advance while risks exist. Secondly, the quaternion ship domain with its adjacent area is divided into four different parts to reflect the urgency of ship encounters. Collision risk evaluation functions are designed to determine avoidance actions conforming to COLREGs. Thirdly, several different ship encounter scenarios were simulated based on IQMPC to verify its capability. |
| format | Article |
| id | doaj-art-9d3218c00b194811a260749d0a29be4b |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-9d3218c00b194811a260749d0a29be4b2025-01-24T13:36:56ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-01-0113112410.3390/jmse13010124Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship DomainHanxuan Zhang0Yuchi Cao1Qihe Shan2Yukun Sun3Navigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaWith the increasing proportion of ships in logistics and the growing prosperity of traffic in maritime, negotiation and cooperative collision avoidance between ships is becoming more and more essential for navigational safety. This paper proposes a Model Predictive Control method that utilizes intention data of the target ship and a quaternion ship domain model to achieve collision avoidance while considering COLREGs, named IQMPC. Firstly, by utilizing the intention data of other ships, trajectories of the own ship and the target ship are well predicted to detect potential collision risks and take optimal avoidance actions in advance while risks exist. Secondly, the quaternion ship domain with its adjacent area is divided into four different parts to reflect the urgency of ship encounters. Collision risk evaluation functions are designed to determine avoidance actions conforming to COLREGs. Thirdly, several different ship encounter scenarios were simulated based on IQMPC to verify its capability.https://www.mdpi.com/2077-1312/13/1/124ship collision avoidanceIQMPCintention dataquaternion ship domain |
| spellingShingle | Hanxuan Zhang Yuchi Cao Qihe Shan Yukun Sun Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain Journal of Marine Science and Engineering ship collision avoidance IQMPC intention data quaternion ship domain |
| title | Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain |
| title_full | Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain |
| title_fullStr | Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain |
| title_full_unstemmed | Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain |
| title_short | Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain |
| title_sort | collision avoidance for maritime autonomous surface ships based on model predictive control using intention data and quaternion ship domain |
| topic | ship collision avoidance IQMPC intention data quaternion ship domain |
| url | https://www.mdpi.com/2077-1312/13/1/124 |
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