Development of software simulator for the motion and colreg obstacle avoidance of unmanned ship

Abstract

The article discusses the development of a software simulator for the motion and COLREG obstacle avoidance of unmanned ship, the use of which simplifies the process of creating and testing unmanned vessels. The main requirements for the simulator, its purpose, structure, and capabilities are presented. The algorithmic basis of the developed simulator is described: the trajectory tracking subsystem uses the gradient algorithm of the auxiliary function, and the obstacle avoidance subsystem is implemented using the velocity obstacle method adapted for the COLREG. The general logic diagram of the program is presented, containing basic subsystems, elements that provide flexibility in configuring the simulator, and elements for analyzing the results of its work. The most common programming languages in the field of robotics are considered, and the suitable language for developing the software simulator the C++ programming language is chosen. The graphical interface of the developed program and its main elements are presented. To test the functionality of the software simulator, modeling of the main obstacle avoidance situations was carried out: head-on, crossing (obstacle moves to the left or right), and overtaking. The results of this modeling are presented. The created software simulator for the motion and obstacle avoidance of unmanned ship meets the requirements set for it in the work, allows modeling of the motion of unmanned ship and to perform avoidance according to COLREG. The implementation of trajectory tracking and obstacle avoidance subsystems as separate software elements makes it possible to use them without significant modifications in the onboard control systems of unmanned ships.