Research on Local Collision Avoidance Algorithm for Unmanned Ship Based on Behavioral Constraints

Aiming at the problem that the global planning path of the unmanned vehicle is difficult to meet the requirements of the motion and maneuvering characteristics of the unmanned vehicle, a local collision avoidance algorithm based on behavioral constraints is designed. Through the analysis of the collision avoidance scene and motion characteristics of the unmanned boat, the behavioral constraints that meet the motion characteristics of the unmanned boat, dynamic obstacle collision avoidance, and maritime collision avoidance rules are constructed. The optimization objective function of heading and speed is established, and the optimal heading and speed values for collision avoidance are obtained by solving the objective optimization problem. Combining the above path planning and local collision avoidance algorithm, a collision avoidance scheme is given. The local collision avoidance behavior is constrained by the global path, so that the unmanned vehicle can return to the optimal path. The simulation shows the effectiveness of the algorithm proposed in this paper.