VORRT-COLREGs: A Hybrid Velocity Obstacles and RRT Based COLREGs-Compliant Path Planner for Autonomous Surface Vessels

Dubey, Rahul; Louis, Sushil J.

doi:10.23919/oceans44145.2021.9706020

Cited by 6 publications

(3 citation statements)

References 16 publications

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“…Liu et al (Liu and Bucknall, 2015) simulate a path planning algorithm in static environment. Dubey et al (Dubey and Louis, 2021) and Naeem et al (Naeem et al, 2012) simulate the collision avoidance strategies based on COLREGs. Benjamin et al (Benjamin and Curcio, 2004) address the problem of safe navigation under COLREGs in open waters.…”

Section: Current Solutionsmentioning

confidence: 99%

Towards A COLREGs Compliant Autonomous Surface Vessel in a Constrained Channel

Meyers¹,

McCord²,

Zhang³

et al. 2022

Preprint

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In this paper, we look at the role of autonomous navigation in the maritime domain. Specifically, we examine how an Autonomous Surface Vessel(ASV) can achieve obstacle avoidance based on the Convention on the International Regulations for Preventing Collisions at Sea (1972), or COLREGs, in real-world environments. Our ASV is equipped with a broadband marine radar, an Inertial Navigation System (INS), and uses official Electronic Navigational Charts (ENC). These sensors are used to provide situational awareness and, in series of welldefined steps, we can exclude land objects from the radar data, extract tracks associated with moving vessels within range of the radar, and then use a Kalman Filter to track and predict the motion of other moving vessels in the vicinity. A Constant Velocity model for the Kalman Filter allows us to solve the data association to build a consistent model between successive radar scans. We account for multiple COLREGs situations based on the predicted relative motion. Finally, an efficient path planning algorithm is presented to find a path and publish waypoints to perform real-time COLREGs compliant autonomous navigation within highly constrained environments. We demonstrate the results of our framework with

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Section: Current Solutionsmentioning

confidence: 99%

Towards A COLREGs Compliant Autonomous Surface Vessel in a Constrained Channel

Meyers¹,

McCord²,

Zhang³

et al. 2022

Preprint

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show abstract

“…In previous works, the purposes of ASV path planning commonly target obstacle avoidance, energy efficiency, path length optimization, etc. [14][15][16] with fixed interaction points. However, in such a scenario with time-sensitive interaction points between ASV and AUGs, the ASV has to schedule an efficient sequence of access to the interaction points of AUGs that occur at specific times.…”

Section: Introductionmentioning

confidence: 99%

Heuristic Surface Path Planning Method for AMV-Assisted Internet of Underwater Things

et al. 2023

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Ocean exploration is one of the fundamental issues for the sustainable development of human society, which is also the basis for realizing the concept of the Internet of Underwater Things (IoUT) applications, such as the smart ocean city. The collaboration of heterogeneous autonomous marine vehicles (AMVs) based on underwater wireless communication is known as a practical approach to ocean exploration, typically with the autonomous surface vehicle (ASV) and the autonomous underwater glider (AUG). However, the difference in their specifications and movements makes the following problems for collaborative work. First, when an AUG floats to a certain depth, and an ASV interacts via underwater wireless communication, the interaction has a certain time limit and their movements to an interaction position have to be synchronized; secondly, in the case where multiple AUGs are exploring underwater, the ASV needs to plan the sequence of surface interactions to ensure timely and efficient data collection. Accordingly, this paper proposes a heuristic surface path planning method for data collection with heterogeneous AMVs (HSPP-HA). The HSPP-HA optimizes the interaction schedule between ASV and multiple AUGs through a modified shuffled frog-leaping algorithm (SFLA). It applies a spatial-temporal k-means clustering in initializing the memeplex group of SFLA to adapt time-sensitive interactions by weighting their spatial and temporal proximities and adopts an adaptive convergence factor which varies by algorithm iterations to balance the local and global searches and to minimize the potential local optimum problem in each local search. Through simulations, the proposed HSPP-HA shows advantages in terms of access rate, path length and data collection rate compared to recent and classic path planning methods.

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“…Dubey and Rahul proposed a hybrid technology that combines velocity obstacle (VO) and rapid exploration of random trees (RRT) in order to generate the safe trajectory of autonomous surface ships. By combining these two methods, the joint forward simulation guarantees that the generated path remains effective and collision-free as the situation changes [17]. Huang et al proposed a collision avoidance algorithm based on the application of the generalized velocity obstacle (GVO) algorithm to ship collision protection, taking ship dynamics into consideration.…”

Section: Introductionmentioning

confidence: 99%

USV Dynamic Accurate Obstacle Avoidance Based on Improved Velocity Obstacle Method

Wang

et al. 2022

Electronics

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Unmanned surface vehicle (USV) path planning is a crucial technology for achieving USV autonomous navigation. Under global path planning, dynamic local obstacle avoidance has become the primary focus for safe USV navigation. In this study, a USV autonomous dynamic obstacle avoidance method based on the enhanced velocity obstacle method is proposed in order to achieve path replanning. Through further analysis of obstacles, the obstacle geometric model set in the conventional velocity obstacle method was redefined. A special triangular obstacle geometric model was proposed to reconstruct the velocity obstacle region. The collision time was predicted by fitting the previously gathered data to the detected obstacle’s distance, azimuth, and other relevant data. Then, it is combined with the collision risk to determine when obstacle avoidance should begin and end. In order to ensure safe driving between path points, the international maritime collision avoidance rules (COLREGs) are incorporated to ensure the accuracy of obstacle avoidance. Finally, through numerical simulations of various collision scenarios, it was determined that, under the assumption of ensuring a safe encounter distance, the maximum change rates of USV heading angle are optimized by 17.54%, 58.16%, and 28.63% when crossing, head-on, and overtaking, respectively. The results indicate that, by optimizing the heading angle, the enhanced velocity obstacle method can avoid the risk of ship rollover caused by an excessive heading angle during high-speed movement and achieve more accurate obstacle avoidance action in the event of a safety encounter.

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VORRT-COLREGs: A Hybrid Velocity Obstacles and RRT Based COLREGs-Compliant Path Planner for Autonomous Surface Vessels

Cited by 6 publications

References 16 publications

Towards A COLREGs Compliant Autonomous Surface Vessel in a Constrained Channel

Towards A COLREGs Compliant Autonomous Surface Vessel in a Constrained Channel

Heuristic Surface Path Planning Method for AMV-Assisted Internet of Underwater Things

USV Dynamic Accurate Obstacle Avoidance Based on Improved Velocity Obstacle Method

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