A system 100B to provide navigation control and/or docking assist for a marine vessel 101. A user input 120/130 device receives navigation control parameters input by a user, such as a target docking position, track, destination or orientation of a boat 101. A perimeter ranging system 148a,b, which may include sensors such as an ultrasonic sensor array, radar systems, visible spectrum and/or infrared/thermal imaging modules or cameras or LIDAR systems, is used to detect collision hazards within the vicinity of the vessel. A processor receives the user input destination and perimeter sensor data, and outputs control signals to a collision avoidance thruster 172 or steering actuator 150, the control signals manoeuvre the yacht into the desired position whilst evading objects in or on the water that pose a collision risk. Preferably, a 2D map is generated, the map displays areas/regions where a risk of collision has been detected, each area is assigned a thruster or velocity demand to limit the thrust/velocity to minimise a risk of collision. A cost function / linear regression model may be used to determine an optimal thrust/velocity attenuation based on an estimated collision risk. Preferably, voxels / volumetric pixels are used to estimate collision risk, wherein overlapping voxels are assigned a weighting according to set criteria.


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    Titel :

    Collision avoidance systems and methods


    Beteiligte:
    JEAN-LUC KERSULEC (Autor:in) / MARK JOHNSON (Autor:in)

    Erscheinungsdatum :

    2022-12-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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