COLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach

Liang Hu, Wasif Naeem, Eshan Rajabally, Graham Watson, Terry Mills, Zakirul Bhuiyan, Ivor Salter

Research output: Contribution to journalArticlepeer-review

40 Citations (Scopus)
559 Downloads (Pure)


In this paper, a multiobjective optimization framework is proposed for on-line path planning of autonomous surface vehicles (ASVs), where both collision avoidance and COLREGs-compliance are taken into account. Special attention has been paid to situational awareness and risk assessment, particularly when the target ship is in breach of the COLREGs rules defined by the International Maritime Organisation. In order to implement COLREGs, the rules together with physical constraints are formulated as mathematical inequalities. A multiobjective optimization problem based on particle swarm optimization is then solved, the solution of which represents a newly-generated path. It is shown through simulations that the proposed method is able to generate COLREGs-compliant and collision-free paths even for non-cooperative targets
i.e. vessels that are in breach of COLREGs.
Original languageEnglish
Pages (from-to)13662-13667
Issue number1
Early online date18 Oct 2017
Publication statusEarly online date - 18 Oct 2017
Event20th World Congress of the International Federation of Automatic Control 2017 - Toulouse, France
Duration: 10 Jul 201714 Jul 2017


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