The aim of this paper is to report the preliminary development of an automatic collision avoidance technique for unmanned marine craft based on standardised rules, COLREGs, defined by the International Maritime Organisation. It is noted that all marine surface vessels are required to adhere to COLREGs at all times in order to minimise or eliminate the risk of collisions. The approach presented is essentially a reactive path planning algorithm which provides feedback to the autopilot of an unmanned vessel or the human captain of a manned ship for steering the craft safely. The proposed strategy consists of waypoint guidance by line-of-sight coupled with a manual biasing scheme. This is applied to the dynamic model of an unmanned surface vehicle. A simple PID autopilot is incorporated to ensure that the vessel adheres to the generated seaway. It is shown through simulations that the resulting scheme is able to generate viable trajectories in the presence of both stationary and dynamic obstacles. Rules 8 and 14 of the COLREGs, which apply to the amount of manoeuvre and to a head-on scenario respectively are simulated. A comparison is also made with an offline or deliberative grid-based path planning algorithm which has been modified to generate COLREGs-compliant routes.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    COLREGs-based collision avoidance strategies for unmanned surface vehicles


    Contributors:

    Published in:

    Mechatronics ; 22 , 6 ; 669-678


    Publication date :

    2012


    Size :

    10 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Collision avoidance for unmanned surface vehicles based on COLREGS

    Zhuang, J / Luo, J / Liu, Y et al. | BASE | 2019

    Free access

    Collision Avoidance for Unmanned Surface Vehicles based on COLREGS

    Zhuang, Jiayuan / Luo, Jing / Liu, Yuanchang et al. | IEEE | 2019


    Collision-avoidance under COLREGS for unmanned surface vehicles via deep reinforcement learning

    Ma, Yong / Zhao, Yujiao / Wang, Yulong et al. | Taylor & Francis Verlag | 2020


    Protocol-Based COLREGS Collision Avoidance Navigation Between Unmanned Marine Surface Craft

    M. R. Benjamin / J. A. Curcio / J. J. Leonard et al. | NTIS | 2006