Abstract
The velocity obstacle method offers collision avoidance solutions for critical multi-ship encounter scenarios. This thesis introduces a Reciprocal Velocity Obstacle (RVO) approach based on dynamic elliptical ship domains for multi-ship collision avoidance. Initially, the concept of dynamic elliptical ship domains is presented, building upon the original static elliptical ship domain Velocity Obstacle (VO) method. Subsequently, multi-ship encounter scenarios are simulated in both virtual environments and real nautical charts, comparing the two methods. The analysis results demonstrate the improved method's excellent performance in both cases, underscoring its advantages. This research provides more effective collision avoidance strategies for multi-ship encounters.
Recommended Citation
xinwei, Tang and weifeng, Li
(2025)
"Research on Multi-ship Collision Avoidance Decision-Making based on Improved Velocity Obstacle Method using Dynamic Elliptical Ship Domains,"
Journal of Marine Science and Technology–Taiwan: Vol. 33:
Iss.
3, Article 2.
DOI: 10.51400/2709-6998.2778
Available at:
https://jmstt.ntou.edu.tw/journal/vol33/iss3/2
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