A collision avoidance algorithm with intention prediction for inland waterways ships

Journal article (2023)

Authors

Hoang Anh Tran Norwegian University of Science and Technology (NTNU)
Tor Arne Johansen Norwegian University of Science and Technology (NTNU)
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2023

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

Collision avoidance is one of the most challenging problems in developing a Maritime Autonomous Surface Ship. This paper proposes a pro-active collision avoidance algorithm for inland waterway ships. The algorithm addresses the problem of avoiding collisions with dynamic obstacles by applying a situation-based intention prediction for neighboring ships. This prediction algorithm allows own ship to be aware of future collision threats caused by the course changes of nearby ships. The prediction scheme is integrated into a scenario-based model predictive control scheme that has been modified for application in inland waterway traffic. The proposed algorithm can deal with complex traffic situations that a ship can encounter, and the performance of the proposed algorithm is evaluated in several experiment simulations.