An automatic COLREGs-compliant obstacle avoidance system for an unmanned surface vehicle

Sable Campbell, Mamun Abu-tair, Wasif Naeem

Research output: Contribution to journalSpecial issuepeer-review

31 Citations (Scopus)

Abstract

Unmanned surface vehicles are becoming increasingly vital tools in a variety of maritime applications. Unfortunately, their usability is severely constrained by the lack of a reliable obstacle detection and avoidance system. In this article, one such experimental platform is proposed, which performs obstacle detection, risk assessment and path planning (avoidance) tasks autonomously in an integrated manner. The detection system is based on a vision-LIDAR (light detection and ranging) system, whereas a heuristic path planner is utilised. A unique property of the path planner is its compliance with the marine collision regulations. It is demonstrated through hardware-in-the-loop simulations that the proposed system can be useful for both uninhabited and manned vessels.
Original languageEnglish
Pages (from-to)108-121
Number of pages14
JournalInstitution of Mechanical Engineers. Proceedings. Part M: Journal of Engineering for the Maritime Environment
Volume228
Issue number2
Early online date05 Nov 2013
DOIs
Publication statusPublished - 14 May 2014

Bibliographical note

Special issue on Unmanned Marine Vehicles

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