基于转向圈的高效海上避碰算法，符合国际避碰规则。
Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function
- 用左右转向圈构建控制屏障函数，明确避让方向与转向能力。
- 计算量远低于传统方法，性能接近模型预测控制。
- 适合实时部署于复杂海况下的船舶自动避碰系统。
本文提出一种基于转向圈的控制屏障函数（CBF）方法，实现计算高效的海上避碰算法，并满足国际海上避碰规则（COLREGs）。传统CBF未显式考虑船舶转向能力与避让方向，而本方法通过构建左、右转向圈对应的两个CBF，依据他船与转向圈中心的距离建立安全条件，同时确定避让方向与转向可行性。算法将CBF作为约束，形成二次规划问题，无需复杂的轨迹优化即可保障航行安全。仿真结果表明，该方法在保持与基于模型预测控制相当性能的同时，显著降低计算开销，验证了其在复杂海事环境中实现合规、可靠、高效避碰的潜力。
原文摘要 · Abstract (English)
This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional CBFs often lack explicit consideration of turning capabilities and avoidance direction, which are key elements in developing a COLREGs-compliant collision avoidance algorithm. To overcome these limitations, we introduce two CBFs derived from left and right turning circles. These functions establish safety conditions based on the proximity between the traffic ships and the centers of the turning circles, effectively determining both avoidance directions and turning capabilities. The proposed method formulates a quadratic programming problem with the CBFs as constraints, ensuring safe navigation without relying on computationally intensive trajectory optimization. This approach significantly reduces computational effort while maintaining performance comparable to model predictive control-based methods. Simulation results validate the effectiveness of the proposed algorithm in enabling COLREGs-compliant, safe navigation, demonstrating its potential for reliable and efficient operation in complex maritime environments.
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