A Collision Warning Algorithm for Area of Inland Ferry Based on Velocity Obstacle

The inland river channel is narrow, especially in the ferry areas, where urgent situation between ferry and waterway shipping will happen from time to time, if the risk of collision between vessels could be found in time, the inland waterway will be smooth. Traditional method to ensure the risk of collision exists abuse in the inland river, basing on the principle of robot velocity obstacle method, this article presents a new algorithm to assure the risk of collision, which could be used for confirmation of the risk of collision and collision avoidance path planning. Through the simulation experiment, it shows that the method is practical in the region of the ferry and the judgment of the risk of collision as well as the collision avoidance path planning.