Parallel distributed collision avoidance with intention consensus based on ADMM

This paper presents an approach to the problem of collaborative collision avoidance of autonomous inland ships. We propose a distributed model predictive control algorithm that allows ships to negotiate their intention to collaboratively avoid collisions directly. Furthermore, a new method is introduced to better shape ships' behavior in order to follow Traffic regulations. The simulation results illustrate that the proposed algorithm could significantly increase ship safety navigation. Moreover, it also shows that the solution proposed by our algorithm complies with waterway Traffic regulations except in complex situations when other safe solutions are negotiated.