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Collision Avoidance for ASVs in Archipelagos—A COLREGs-Aware Optimization-Based Method

Wingqvist, Birgitta LU orcid ; Olofsson, Björn LU ; Lindh, Jens-Olof ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2024) p.1132-1139
Abstract
With increased autonomy in marine vessels, autonomous surface vessels (ASVs) and conventionally manned vessels need to coexist at sea. Any relocation needs to include collision avoidance according to the traffic rules at sea, COLREGs. Here, a local collision-avoidance planner for an archipelago environment is presented. The optimization-based local planner presented considers a predefined nominal path and upon detection of other vessels, a COLREGs-aware maneuver is computed. The maneuver adapts to the available space and includes a return to the nominal plan. The irregular available space for maneuvers is approximated with a local convex area. The planner was evaluated both in simulations and in field experiments.
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Collision avoidance, path planning, Autonomous Surface Vessel, COLREGs, Optimization, control, ASV
host publication
Proc. 2024 European Control Conf. (ECC2024), Jun 25-28, 2024
pages
1132 - 1139
project
RobotLab LTH
Multi-Vehicle Simultaneous Localization, Mapping, and Tracking
language
English
LU publication?
yes
id
d38fb00a-e896-4fc2-a9d4-0e98f5d94118
date added to LUP
2024-07-04 12:03:03
date last changed
2024-07-10 11:40:47
@inproceedings{d38fb00a-e896-4fc2-a9d4-0e98f5d94118,
  abstract     = {{With increased autonomy in marine vessels, autonomous surface vessels (ASVs) and conventionally manned vessels need to coexist at sea. Any relocation needs to include collision avoidance according to the traffic rules at sea, COLREGs. Here, a local collision-avoidance planner for an archipelago environment is presented. The optimization-based local planner presented considers a predefined nominal path and upon detection of other vessels, a COLREGs-aware maneuver is computed. The maneuver adapts to the available space and includes a return to the nominal plan. The irregular available space for maneuvers is approximated with a local convex area. The planner was evaluated both in simulations and in field experiments.}},
  author       = {{Wingqvist, Birgitta and Olofsson, Björn and Lindh, Jens-Olof and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{Proc. 2024 European Control Conf. (ECC2024), Jun 25-28, 2024}},
  keywords     = {{Collision avoidance; path planning; Autonomous Surface Vessel; COLREGs; Optimization; control; ASV}},
  language     = {{eng}},
  pages        = {{1132--1139}},
  title        = {{Collision Avoidance for ASVs in Archipelagos—A COLREGs-Aware Optimization-Based Method}},
  url          = {{https://lup.lub.lu.se/search/files/190560090/ECC24_0347_FI-4.pdf}},
  year         = {{2024}},
}