Collision Avoidance for ASVs in Archipelagos—A COLREGs-Aware Optimization-Based Method
(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:
https://lup.lub.lu.se/record/d38fb00a-e896-4fc2-a9d4-0e98f5d94118
- author
- Wingqvist, Birgitta
LU
; Olofsson, Björn LU ; Lindh, Jens-Olof ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2024
- 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}}, }