Resumen
Autonomous decision-making for ships to avoid collision is core to the autonomous navigation of intelligent ships. In recent years, related research has shown explosive growth. However, owing to the complex constraints of navigation environments, the Convention of the International Regulations for Preventing Collisions at Sea, 1972 (COLREGs), and the underactuated characteristics of ships, it is extremely challenging to design a decision-making algorithm for autonomous collision avoidance (CA) that is practically useful. Based on the investigation of many studies, current decision-making algorithms can be attributed to three strategies: alteration of course alone, alteration of speed alone, and alteration of both course and speed. This study discusses the implementation methods of each strategy in detail and compares the specific ways, applicable scenes, and limiting conditions of these methods to achieve alteration of course and/or speed to avoid collision, especially their advantages and disadvantages. Additionally, this study quantitatively analyzes the coupling mechanisms of alterations of course and speed for autonomous CA decision-making under different encounter situations, supplementing and optimizing the decision-making theory for ship autonomous CA. Finally, several feasible algorithms and improvement schemes for autonomous CA decision-making, combined with course and speed alterations, are discussed.