COLREGs-based collision avoidance strategies for unmanned surface vehicles

Naeem, Wasif; Irwin, G.W.; Yang, An-Shik

doi:10.1016/j.mechatronics.2011.09.012

Cited by 186 publications

(97 citation statements)

References 14 publications

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“…Naeem et al [25] used a highdefinition camera with a laser range finder to further add to their contact picture. A Kalman filter estimation of position and track was realized.…”

Section: Literature Review and Recent Researchmentioning

confidence: 99%

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

Woerner¹

2014

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High contact density environments are becoming ubiquitous in autonomous marine vehicle (AMV) operations. Safely managing these environments and their mission greatly taxes platforms. AMV collisions will likely increase as contact density increases. In situations where AMVs are not performing a collaborative mission but are using shared physical space such as multiple vehicles in the same harbor, a high demand exists for safe and e cient operation to minimize mission track deviations while preserving the safety and integrity of mission platforms. With no existing protocol for collision avoidance of AMVs, much e↵ort to date has focused on individual ad hoc collision avoidance approaches that are self-serving, lack the uniformity of fleet-distributed protocols, and disregard the overall fleet e ciency when scaled to being in a contact-dense environment. This research shows that by applying interval programming and a collision avoidance protocol such as the International Regulations for Prevention of Collisions at Sea (COLREGS) to a fleet of AMVs operating in the same geographic area, the fleet achieves nearly identical e ciency concurrent with significant reductions in the collisions observed. A basic collision avoidance protocol was analyzed against a COLREGS-based algorithm while parameters key to collision avoidance were studied using Monte Carlo methods and regression analysis of both real-world and simulated statistical data. A testing metric was proposed for declaring AMVs as "COLREGS-compliant" for at-sea operations. This work tested five AMVs simultaneously with COLREGS collision avoidance-the largest test known to date.

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“…Naeem et al [25] used a highdefinition camera with a laser range finder to further add to their contact picture. A Kalman filter estimation of position and track was realized.…”

Section: Literature Review and Recent Researchmentioning

confidence: 99%

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

Woerner¹

2014

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“…It is the first work specifically solving the USV formation problem with algorithm practicability as the main feature of this research. A number of previous works have developed path planning algorithms for USVs; however, nearly all of them (Tam and Bucknall, 2013;Naeem et al, 2012;Thakur et al, 2012), with the notable exception of Kim et al (2014), simulated algorithms in simple self-constructed environments rather than real ocean environments. The algorithm designed in this paper is able to extract information from a real navigation map to construct a synthetic grid map, where both static and dynamic obstacles are well represented.…”

Section: Introductionmentioning

confidence: 99%

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

2015

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a b s t r a c tUnmanned surface vehicles (USVs) have been deployed over the past decade. Current USV platforms are generally of small size with low payload capacity and short endurance times. To improve effectiveness there is a trend to deploy multiple USVs as a formation fleet. This paper presents a novel computer based algorithm that solves the problem of USV formation path planning. The algorithm is based upon the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method. The constrained FM method is able to model the dynamic behaviour of moving ships with efficient computation time. The algorithm has been evaluated using a range of tests applied to a simulated area and has been proved to work effectively in a complex navigation environment.

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“…USVs are characterized by small size, good hiding capability, high mobility, and low price; these vehicles can also be used in many aspects of marine applications, such as oceanography, environmental monitoring, surveying, mapping and navigation, as well as communication support for unmanned underwater vehicles and general robotics research (Manley, 2008;Majohr and Buch, 2006;Caccia et al, 2007;Sutton et al, 2011;Corfield and Young, 2006;Motwani, 2012;Dunbabin et al, 2009;Steimle and Hall, 2006;Heidarsson and Sukhatme, 2011;Wang et al, 2009). The development of a fully autonomous system that can work under any unstructured or unpredictable environment is a challenging task that requires robust guidance and control strategies (Naeem et al, 2012). Numerous USV programs have been developed globally, with most that have been established in the defense and civil sectors being reliant on remote operator guidance in terms of sending mission commands.…”

Section: Introductionmentioning

confidence: 99%

“…Numerous USV programs have been developed globally, with most that have been established in the defense and civil sectors being reliant on remote operator guidance in terms of sending mission commands. These programs constantly monitor vehicle status either through direct observation or through a wireless video link, which limits the autonomy of USVs in complicated marine environments (Naeem et al, 2012;Pascoal et al, 2000;Rafael, 2010).…”

Section: Introductionmentioning

confidence: 99%

Local reactive obstacle avoidance approach for high-speed unmanned surface vehicle

et al. 2015

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COLREGs-based collision avoidance strategies for unmanned surface vehicles

Cited by 186 publications

References 14 publications

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

Local reactive obstacle avoidance approach for high-speed unmanned surface vehicle

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