A Reactive COLREGs-Compliant Navigation Strategy for Autonomous Maritime Navigation

Wasif Naeem, Sable de Oliveira Henrique, Liang Hu

Research output: Contribution to conferencePaper

22 Citations (Scopus)

Abstract

This paper reports the development of an automatic collision avoidance technique for unmanned marine vessel incorporating standard collision regulations or COLREGs, defined by the International Maritime Organisation. Like any ship, all unmanned vessels must adhere to COLREGs at all times in order to minimise or eliminate the risk of collisions. The proposed approach is essentially a reactive path planning algorithm based on a modified well known Artificial Potential Fields (APF) framework. It is shown through simulations that the proposed strategy is able to generate COLREGs-compliant trajectories in the presence of both stationary and dynamic obstacles. Rules 13, 14 and 15 of the COLREGs, which apply to the overtaking, head-on and crossing scenarios respectively, are simulated for multiple dynamic vessels in an environment inclusive of land features.
Original languageEnglish
Pages207-213
Number of pages7
Publication statusPublished - 16 Sep 2016
Event10th IFAC Conference on Control Applications in Marine Systems - Trondheim, Norway
Duration: 13 Sep 201616 Sep 2016
http://www.ifac-cams2016.com/

Conference

Conference10th IFAC Conference on Control Applications in Marine Systems
Abbreviated titleCAMS'16
CountryNorway
CityTrondheim
Period13/09/201616/09/2016
Internet address

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    Naeem, W., de Oliveira Henrique, S., & Hu, L. (2016). A Reactive COLREGs-Compliant Navigation Strategy for Autonomous Maritime Navigation. 207-213. Paper presented at 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway. https://www.sciencedirect.com/science/article/pii/S2405896316319310