Creation of Fundamental Technologies for Next-generation Automatic Collision Avoidance System

2019 Fiscal Year Final Research Report

• Project/Area Number: 17K00306
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent informatics
• Research Institution: Kobe University
• Principal Investigator: Hirayama Katsutoshi 神戸大学, 海事科学研究科, 教授 (00273813)
• Project Period (FY): 2017-04-01 – 2020-03-31
• Keywords: 分散衝突回避 / フリートコントロール / マルチエージェント経路発見

Outline of Final Research Achievements

In this project, as the fundamental technologies of next-generation automatic collision avoidance, we have further enhanced distributed collision avoidance algorithms for ship collision avoidance that has been developed so far. We have also tried to develop general-purpose mechanisms that would be applied to any vehicles other than ships. The main achievements of this project are as follows. (1) We have developed a new algorithm and its functions were greatly expanded to enhance its versatility. (2) We have evaluated the performance of algorithm under realistic and diverse scenarios. (3) We have incorporated and tested the algorithm into the system that achieves more advanced tasks including collision avoidance, and (4) We have pursued to integrate the basic idea of algorithm with another technology in order to realize more organized behavior of vehicles.

Free Research Field

知能情報学

Academic Significance and Societal Importance of the Research Achievements

本研究で開発した船舶衝突回避のための分散衝突回避アルゴリズムDSSAに関する論文は，海事系分野におけるトップクラスの国際学術論文誌The Journal of Navigationに掲載され，さらにScopusにおいてTop 6.13%論文に位置付けられている．また，DSSAの発展版であるDSSA+に関する論文も，海事系分野における著名な国際学術論文誌TransNavに掲載された．このように本研究は，分散衝突回避アルゴリズムという基本アイデアを当該分野に広く認知させたという点で大きな意義があったと考える．