A rule-based heuristic method for COLREGS-compliant collision avoidance for an unmanned surface vehicle

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 45, Issue 27 PART 1, 2012, Pages 386-391

  Campbell, S ^a   Naeem, W ^a  

^a QUEEN'S UNIVERSITY BELFAST   (United Kingdom)

Author keywords

Autonomous vehicles; Collision avoidance; COLREGs; Guidance; Heuristics; Marine surface vessels; Path planning

Indexed keywords

AUTONOMOUS VEHICLES; COLLISION AVOIDANCE; DECISION MAKING; ELECTRONIC GUIDANCE SYSTEMS; MOTION PLANNING; NETWORK ARCHITECTURE; OBSTACLE DETECTORS; UNMANNED SURFACE VEHICLES;

COLREGS; DECISION-MAKING FRAMEWORKS; HEURISTICS; INTEGRATED SYSTEMS; INTELLIGENT DECISION MAKING; INTERNATIONAL REGULATIONS; MARINE SURFACE VESSELS; OBSTACLE DETECTION;

HEURISTIC METHODS;

EID: 84900479345     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20120919-3-IT-2046.00066     Document Type: Conference Paper

References (14)

1. Benjamin, M., Leonard, J., Curcio, J., and Newman, P. (2006). A method for protocol-based collision avoidance between autonomous marine surface craft. Journal of Field Robotics, 23(5), 333-346.
2. Bibuli, M., Bruzzone, G., Caccia, M., Indiveri, G., and Zizzari, A.A. (2008). Line following guidance control: Application to the Charlie unmanned surface vehicle. In IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '08., 3641-3646.
3. Casalino, G., Turetta, A., and Simetti, E. (2009). A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields. In OCEANS 2009 - EUROPE, 1-8.
4. Commandant, U.G.C. (1999). International Regulations for Prevention of Collisions at Sea, 1972 (COLREGS).
5. Doyle, J.M. (2011). Insatiable hunger, tightening belts. Unmanned Systems, 29(4), 25.
6. Dubins, L.E. (1957). On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. American Journal of Mathematics, 79(3).
7. Ferguson, D., Likhachev, M., and Stentz, A. (2005). A guide to heuristic-based path planning. Proceedings of the Workshop on Planning under Uncertainty for Autonomous Systems at the International Conference on Automated Planning and Scheduling.
8. Hern'andez, E., Carreras, M., Ridao, P., Antich, J., and Ortiz, A. (2011). A search-based path planning algorithm with topological constraints. application to an AUV. In 18th IFAC World Congress 2011, Milan (Italy), volume 18.
9. Lee, S.M., Kwon, K.Y., and Joh, J. (2004). A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREGS guidelines. International Journal of Control, Automation, and Systems, 2(2), 171-181.
10. Naeem, W., Sutton, R., and Chudley, J. (2006). Modelling and control of an unmanned surface vehicle for environmental monitoring. In UKACC International Control Conference. University of Strathclyde.
11. Rafael Advanced Defense Systems Ltd. (2010). PROTECTOR, unmanned naval patrol vehicle. http://www.rafael.co.il (date accessed: 08/2011).
12. Rothblum, A.M. (2000). Human error & marine safety. 1-10. US Coastguard Research & Development Centre.
13. Tsou, M.C. and Hsueh, C.K. (2010). The study of ship collision avoidance route planning by ant colony algorithm. Journal of Marine Science and Technology, 18(5), 746-756.
14. Xue, Y., Clelland, D., Lee, B., and Han, D. (2011). automatic simulation of ship navigation. Ocean Engineering, 38(1718), 2290-2305.