- Tytuł:
- DSSA+: distributed collision avoidance algorithm in an environment where both course and speed changes are allowed
- Autorzy:
-
Hirayama, K.
Miyake, K.
Shiotani, T.
Okimoto, T. - Powiązania:
- https://bibliotekanauki.pl/articles/116483.pdf
- Data publikacji:
- 2019
- Wydawca:
- Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
- Tematy:
-
collision avoidance
collision avoidance algorithm
vessel course changes
vessel speed changes
Distributed Stochastic Search Algorithm (DSSA)
colregs
ARPA
Distributed Constraint Optimization Problem (DCOP) - Opis:
- Distributed Stochastic Search Algorithm (DSSA) is one of state-of-the-art distributed algorithms for the ship collision avoidance problem. In DSSA, whenever a ship encounters with any number of other ships (neighboring ships), she will select her course with a minimum cost after coordinating their decisions with her neighboring ships. The original DSSA assumes that ships can change only their courses while keeping their speed considering kinematic properties of ships in general. However, considering future possibilities to address more complex situations that may cause ship collision or to deal with collision of other vehicles (such as mobile robots or drones), the options of speed changes are necessary for DSSA to make itself more flexible and extensive. In this paper, we present DSSA+, as a generalization of DSSA, in which speed change are naturally incorporated as decision variables in the original DSSA. Experimental evaluations are provided to show how powerful this generalization is.
- Źródło:
-
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 117-123
2083-6473
2083-6481 - Pojawia się w:
- TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
- Dostawca treści:
- Biblioteka Nauki
Artykuł