Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based dynamic obstacle avoidance approach for USVs in compliance with COLREGs. Based on the detected obstacle information, the approach can not only infer the collision risk, but also plan the local avoidance path trajectory to make appropriate avoidance maneuvers. Firstly, the analytical DNSD model is established taking into account the ship parameters, maneuverability, sailing speed, and encounter situations regarding COLREGs. Thus, the DNSDs of the own and target ships are utilized to trigger the obstacle avoidance mode and determine whether and when the USV should make avoidance maneuvers. Then, the local avoidance path planner generates the new avoidance waypoints and plans the avoidance trajectory. Simulations were implemented for a single obstacle under different encounter situations and multiple dynamic obstacles. The results demonstrated the effectiveness and superiority of the proposed DNSD-based obstacle avoidance algorithm.

中文翻译：

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COLREGs：基于动态导航船舶域的USV的合规动态避障

动态避障对于无人水面车辆 (USV) 实现自主航行至关重要。本文提出了一种基于动态导航船舶域 (DNSD) 的符合 COLREG 的 USV 动态避障方法。基于检测到的障碍物信息，该方法不仅可以推断碰撞风险，还可以规划局部避让路径轨迹，以做出适当的避让动作。首先，考虑COLREGs的船舶参数、操纵性、航行速度和遭遇情况，建立解析DNSD模型。因此，利用本船和目标船舶的 DNSD 来触发避障模式，并确定 USV 是否以及何时应进行避障机动。然后，局部回避路径规划器生成新的回避航路点并规划回避轨迹。针对不同遭遇情况下的单个障碍物和多个动态障碍物进行了模拟。结果证明了所提出的基于DNSD的避障算法的有效性和优越性。