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CRI와 COLREG를 이용한 선박 충돌 회피 알고리즘
서찬희(Chanhee Seo),노유정(Yoojeong Noh),미쓰가나 아베베 바예(Misganaw Abebe Baye) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In recent years, unmanned shipping of ships has continued to evolve and has come to be considered commercially viable. Path planning is an important process for unmanned operations. However, there are many variables at sea. And they should be considered when routing for economy and safety. This study aims to ensure the economics and safety of ships ’operation by adding collision avoidance algorithm to an improved A<SUP>*</SUP> algorithm, a ships’ route finding optimization algorithm considering the economics of operations. For this, the algorithm is constrained by applying the Collision Risk Index (CRI) and COLREGs rule to the path optimization algorithm. To validate the proposed algorithm, The collision avoidance algorithm was performed in various maritime traffic scenarios, and the results of using CRI were compared to those using other ship domain methods.