Collision avoidance for multiple autonomous surface vehicles utilizing information exchange - A centralized optimization based approach

dc.contributor.advisor	Nguyen, Dong Trong
dc.contributor.advisor	Akdag, Melih
dc.contributor.advisor	Pedersen, Tom Arne
dc.contributor.author	Xu, Xiaolun
dc.date.accessioned	2022-10-18T17:19:53Z
dc.date.available	2022-10-18T17:19:53Z
dc.date.issued	2022
dc.identifier	no.ntnu:inspera:106583545:64637705
dc.identifier.uri	https://hdl.handle.net/11250/3026791
dc.description.abstract
dc.description.abstract	Centralized collision avoidance algorithms for multiple autonomous surface vehicles are frequently proposed, but most of them assume ideal condition. However, vessels’ non-collaboration and non-compliance motion in Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) may happen in real maritime world. This thesis aims to find the optimal maneuvering in both ideal and non-ideal conditions. A centralized optimization system utilizing information exchange is developed and implemented for multiple vessels encountering. Particle swarm optimization method is used for solving the optimization problem. Simulation tests are performed to validate the effectiveness and robustness of the proposed optimization system.
dc.language	eng
dc.publisher	NTNU
dc.title	Collision avoidance for multiple autonomous surface vehicles utilizing information exchange - A centralized optimization based approach
dc.type	Master thesis