Development of a collision avoidance system considering the navigation plan

Abstract

In this paper, a collision avoidance system considering the navigation plan is developed. As a standard of judgment for collision avoidance, the degree of collision risky by fuzzy reasoning with input variables of TCPA and DCPA is used, and the navigation plan is made using A* search method. The simulation results show that the collision avoidance system taking into consideration the navigation plan takes safer and smoother actions than the system without taking the navigation plan into consideration.