An Algorithm for USV Situation Autonomous Awareness and Obstacle Avoidance in Dynamic and Uncertain Marine Environment
Aiming at the problem of autonomous situation awareness and real-time obstacle avoidance of the USV in dynamic and uncertain marine environment,an autonomous navigation situation awareness and obstacle avoidance algorithm for the USV is proposed,which complies with the COLREGs maritime rules and considers the measurement errors of sensors and the uncertain information of random movement of obstacles.Firstly,three kinds of maritime rules,overtaking,cross encounter and head-on en-counter,must be observed by the USV when navigating at sea are expounded;After that,the measurement errors,observation drift and random uncertainty of obstacle movement existing in the sensor are considered,the relevant error is modeled,and the USV situation autonomous awareness and obstacle avoidance algorithm integrating COLREGs maritime rules is designed and proposed based on the speed obstacle method integrating COLREGs rules;Finally,the effectiveness of the proposed algorithm is verified by four typical scenarios:frontal encounter,overtaking,left and right cross encounter.
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