标题： 基于转向圈控制屏障函数的高效 COLREGs 遵从避碰方法 显示英文标题

标题： Efficient COLREGs-Compliant Collision Avoidance using Turning Circle-based Control Barrier Function

摘要： 本文提出了一种计算效率高的避碰算法，该算法使用基于转向圆的控制屏障函数（CBF），符合国际海上防止碰撞规则（COLREGs）。 传统的CBF通常缺乏对转向能力和避碰方向的显式考虑，而这些是开发符合COLREGs的避碰算法的关键要素。 为克服这些局限性，我们引入了两个基于左转和右转圆的CBF。 这些函数根据交通船与转向圆中心之间的接近程度建立安全条件，有效确定了避碰方向和转向能力。 所提出的方法通过将CBF作为约束来制定一个二次规划问题，确保安全航行而不依赖于计算密集型轨迹优化。 这种方法显著减少了计算工作量，同时保持了与基于模型预测控制方法相当的性能。 仿真结果验证了所提出算法在实现符合COLREGs的安全导航方面的有效性，展示了其在复杂海洋环境中的可靠性和高效运行潜力。 显示英文摘要

摘要： This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional CBFs often lack explicit consideration of turning capabilities and avoidance direction, which are key elements in developing a COLREGs-compliant collision avoidance algorithm. To overcome these limitations, we introduce two CBFs derived from left and right turning circles. These functions establish safety conditions based on the proximity between the traffic ships and the centers of the turning circles, effectively determining both avoidance directions and turning capabilities. The proposed method formulates a quadratic programming problem with the CBFs as constraints, ensuring safe navigation without relying on computationally intensive trajectory optimization. This approach significantly reduces computational effort while maintaining performance comparable to model predictive control-based methods. Simulation results validate the effectiveness of the proposed algorithm in enabling COLREGs-compliant, safe navigation, demonstrating its potential for reliable and efficient operation in complex maritime environments.