Publication Type

Journal Article

Version

publishedVersion

Publication Date

4-2025

Abstract

A novel scheme is proposed for the distributed multi-ship collision avoidance (CA) problem with consideration of the autonomous, dynamic nature of the real circumstance. All the ships in the envisioned scenarios can share their decisions or intentions through route exchange, allowing them to make subsequent decisions based on the route planning in each iteration. By leveraging route exchange, the multi-ship CA problem involves iterations for negotiation, and is regarded as a staged cooperative game under conditions of complete information. The concept of closest spatio-temporal distance (CSTD) is introduced to more accurately assess collision risk between ships. A coordinated CA mechanism is established when a collision risk is identified, which further incorporates considerations including the stand-on/give-way relationships, negotiation rounds, route re-planning calculation, as well as the cost factor for route evaluation. The Nash bargaining solution (NBS) is elaborated to achieve Pareto-optimal CA routes in the scenarios. In the proposed model, while the individual interest of each ship are maximized, the economic fairness and global optimization of the overall system are also maintained. Simulation results indicate that the NBS shows good flexibility and adaptability, and that when all ships comply with route re-planning solution, the proposed scheme can bring out normal solutions within a limited number of re-planning iterations.

Discipline

Artificial Intelligence and Robotics

Research Areas

Intelligent Systems and Optimization

Areas of Excellence

Sustainability

Publication

IET Intelligent Transport Systems

Volume

19

Issue

1

First Page

1

Last Page

22

ISSN

1751-956X

Identifier

10.1049/itr2.70025

Publisher

Wiley

Additional URL

https://ietresearch.onlinelibrary.wiley.com/doi/full/10.1049/itr2.70025

Download

Share

COinS