Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm
Path planning and collision avoidance issues are key to the autonomous navigation of unmanned surface vehicles (USVs). This study proposes an adaptive differential evolution algorithm model integrated with the analytic hierarchy process (AHP-ADE). The traditional differential evolution algorithm is...
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| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2123 |
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| author | Zhongming Xiao Baoyi Hou Jun Ning Bin Lin Zhengjiang Liu |
| author_facet | Zhongming Xiao Baoyi Hou Jun Ning Bin Lin Zhengjiang Liu |
| author_sort | Zhongming Xiao |
| collection | DOAJ |
| description | Path planning and collision avoidance issues are key to the autonomous navigation of unmanned surface vehicles (USVs). This study proposes an adaptive differential evolution algorithm model integrated with the analytic hierarchy process (AHP-ADE). The traditional differential evolution algorithm is enhanced by introducing an elite archive strategy and adaptively adjusting the scale factor <i>F</i> and the crossover factor <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>C</mi><mi>R</mi></mrow></semantics></math></inline-formula> to balance global and local search capabilities, preventing premature convergence and improving the search accuracy. Additionally, the collision risk index (CRI) model is optimized and combined with the quaternion ship domain, enhancing the precision of CRI calculations and USV autonomous collision avoidance capabilities. The improved CRI model, the International Regulations for Preventing Collisions at Sea, and the optimal collision avoidance distance were incorporated as evaluation factors in a fitness function assessment, with weights determined through the AHP to enhance the rationality and accuracy of the fitness function. The proposed AHP-ADE algorithm was compared with the improved particle swarm algorithm, and the performance of the algorithm was comprehensively evaluated using safety, economy, and operational efficiency. Simulation experiments on the MATLAB platform demonstrated that the proposed AHP-ADE algorithm exhibited better performance in scenarios involving multiple ship encounters, thus proving its effectiveness. |
| format | Article |
| id | doaj-art-f4830b38cd3648f2b1885a41b4da4a96 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-f4830b38cd3648f2b1885a41b4da4a962024-12-27T14:33:01ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-11-011212212310.3390/jmse12122123Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution AlgorithmZhongming Xiao0Baoyi Hou1Jun Ning2Bin Lin3Zhengjiang Liu4Navigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaInformation Science and Technology College, Dalian Maritime University, Dalian 116026, ChinaNavigation College, Dalian Maritime University, Dalian 116026, ChinaPath planning and collision avoidance issues are key to the autonomous navigation of unmanned surface vehicles (USVs). This study proposes an adaptive differential evolution algorithm model integrated with the analytic hierarchy process (AHP-ADE). The traditional differential evolution algorithm is enhanced by introducing an elite archive strategy and adaptively adjusting the scale factor <i>F</i> and the crossover factor <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>C</mi><mi>R</mi></mrow></semantics></math></inline-formula> to balance global and local search capabilities, preventing premature convergence and improving the search accuracy. Additionally, the collision risk index (CRI) model is optimized and combined with the quaternion ship domain, enhancing the precision of CRI calculations and USV autonomous collision avoidance capabilities. The improved CRI model, the International Regulations for Preventing Collisions at Sea, and the optimal collision avoidance distance were incorporated as evaluation factors in a fitness function assessment, with weights determined through the AHP to enhance the rationality and accuracy of the fitness function. The proposed AHP-ADE algorithm was compared with the improved particle swarm algorithm, and the performance of the algorithm was comprehensively evaluated using safety, economy, and operational efficiency. Simulation experiments on the MATLAB platform demonstrated that the proposed AHP-ADE algorithm exhibited better performance in scenarios involving multiple ship encounters, thus proving its effectiveness.https://www.mdpi.com/2077-1312/12/12/2123unmanned surface vehiclepath planningcollision avoidanceelite archive strategydifferential evolution algorithm |
| spellingShingle | Zhongming Xiao Baoyi Hou Jun Ning Bin Lin Zhengjiang Liu Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm Journal of Marine Science and Engineering unmanned surface vehicle path planning collision avoidance elite archive strategy differential evolution algorithm |
| title | Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm |
| title_full | Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm |
| title_fullStr | Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm |
| title_full_unstemmed | Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm |
| title_short | Collision Avoidance for Unmanned Surface Vehicles in Multi-Ship Encounters Based on Analytic Hierarchy Process–Adaptive Differential Evolution Algorithm |
| title_sort | collision avoidance for unmanned surface vehicles in multi ship encounters based on analytic hierarchy process adaptive differential evolution algorithm |
| topic | unmanned surface vehicle path planning collision avoidance elite archive strategy differential evolution algorithm |
| url | https://www.mdpi.com/2077-1312/12/12/2123 |
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