확률론적 충돌 위험도 평가를 통한 무인 선박 간의 충돌 회피

Abstract

This paper addresses collision avoidance between two passing unmanned surface vessels based on the probabilistic quantification of collision risk. A predictive measure of the potential ship collision risk is evaluated in the early stage ofship encounter using a minimal set of motion-related information provided by navigational aid systems. The collision risk is then utilized to determine appropriate evasive maneuvers to reduce the ship collision risk to a tolerable level. To show the feasibility of the proposed idea, numerical simulations were performed for ship crossing situation scenarios.