Real-time Collision Avoidance for Unmanned Ships under Constraints of Rules

Real-time collision avoidance is a key problem in the design of unmanned intelligent mobile systems. In this paper, an improved artificial potential field method combined with the ”Maritime rules” is proposed for intelligent mobile systems with constraint of rules. As an example, the autonomous collision avoidance system for an unmanned ship is designed in detail and the simulation results are provided to verify the success of the proposed method.