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- W4380877462 abstract "About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed." @default.
- W4380877462 created "2023-06-17" @default.
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- W4380877462 date "2023-06-20" @default.
- W4380877462 modified "2023-09-23" @default.
- W4380877462 title "Event-Triggered NMPC-Based Ship Collision Avoidance Algorithm Considering COLREGs" @default.
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- W4380877462 doi "https://doi.org/10.3744/snak.2023.60.3.155" @default.
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