multiple_usvs_collision_avoidance

This code is for paper Development of collision avoidance algorithms for the c-enduro usv and USV geometric collision avoidance algorithm for multiple marine vehicles

Demo Video 1: Link

This collision avoidance algorithm includes collision detection algorithm, collision resolution and waypoint guidance algorithm.

Prerequisites

What things you need to install the software

Matlab

For avoiding multiple dynamic obstacles: $ CA_dynamic.m Or $ CA_dynamic_2.m

For avoiding both static and dynamic obstacles: $ CA_static_dynamic.m

Paper

If you use this code in your research, please cite our paper:

@inproceedings{niu2017usv,
  title={USV geometric collision avoidance algorithm for multiple marine vehicles},
  author={Niu, Hanlin and Savvaris, Al and Tsourdos, Antonios},
  booktitle={OCEANS 2017-Anchorage},
  pages={1--10},
  year={2017},
  organization={IEEE}
}

@article{oh2014development,
  title={Development of collision avoidance algorithms for the c-enduro usv},
  author={Savvaris, A and Niu, H and Oh, Hyondong and Tsourdos, A},
  journal={IFAC Proceedings Volumes},
  volume={47},
  number={3},
  pages={12174--12181},
  year={2014},
  publisher={Elsevier}
}