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.
Collision avoidance systems and methods
2022-12-14
Patent
Elektronische Ressource
Englisch