Dynamic intelligent collision avoidance method based on trajectory prediction

The track prediction in junction with improved velocity obstacle is combined introduced into dynamic intelligent collision avoidance calculation to accomplish the intelligent collision avoidance in restrained waterways. The model of relative motion between two ships is built and the collision avoidance motion parameters of the ships are calculated in real time. The motion states of OS（Own Ship） and the TS（Target Ship） at subsequent moment are predicted by using the 3D MMG（Maneuvering Modeling Group） model and Kalman filtering. The above process in conjunction with rules of Convention on the International Regulations for Preventing Collisions at Sea and good seamanship altogether form the complete dynamic intelligent avoidance algorithm. The algorithm is verified through simulations.