multiple_usvs_collision_avoidance

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multiple_usvs_collision_avoidance

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# multiple_usvs_collision_avoidance

This code is for paper [Development of collision avoidance algorithms for the c-enduro usv](https://www.sciencedirect.com/science/article/pii/S1474667016435524) and [USV geometric collision avoidance algorithm for multiple marine vehicles](https://ieeexplore.ieee.org/abstract/document/8232348)

Demo Video 1: [Link](https://youtu.be/GVomw0TtzvU)

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}
}
```

multiple_usvs_collision_avoidance

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