Research on Intelligent Navigation Collision Avoidance Decision-making for Typical Inland Waterway

Inland river vessel intelligent navigation and collision avoidance technology reduces the labor intensity for operators, ensures the safety of the vessels, improves the safety level and transportation efficiency of inland river shipping, and brings about certain economic and social benefits, showing a broad application prospect. The fundamental process of intelligent navigation and collision avoidance decision-making can be encapsulated into three phases: course maintenance, collision avoidance, and course resumption. During the collision avoidance phase, to prevent collisions, vessels take rule-compliant and effective evasive actions, which typically result in the vessel deviating from the planned route. The objectives of the course maintenance phase and the course resumption phase are primarily to guide the vessel along the intended route. This paper explores intelligent navigation and collision avoidance decision-making for inland river vessels from the perspectives of trajectory control and autonomous collision avoidance, thereby deriving intelligent navigation control methods and collision avoidance models, offering significant foundational theories and methodological support for the intelligent navigation and collision avoidance decision-making of inland river vessels.