Safety Analysis and Evaluation of Intelligent Ship Autonomous Navigation System Based on Smart Obstacle Avoidance Algorithm

This article analyzes and evaluates the security problems of the Ship autonomous Navigation System, and present a kind of Smart Obstacle Avoidance Algorithm. This algorithm simulates the surrounding environment potential field, and takes the ship and boat as the object of attraction and repulsion. In particular, the vessel will be affected by the combination of gravity from its target and by the repulsion of the barriers, thereby enabling it to evade obstacles in a safe and efficient manner and reach its target. To prove the validity of the proposed method, the paper has designed and realized several simulation scenarios, which are used in complicated marine environment like static, dynamic, and multi-obstacles. Simulation results indicate that the INS has excellent anti-collision capability and stable sailing under various complicated environments. Data indicate that the vessel has been able to evade obstacles in 98.7 percent of the time, with an average navigational route error below 3m, a maximum deviation of 2.8 m, and a system reaction time of 1.2s.