COLREGS Based Path Planning and Bearing Only Obstacle Avoidance for Autonomous Unmanned Surface Vehicles
Obstacle avoidance for autonomous unmanned surface vehicles (USV) is a very critical issue and must be in accordance with international maritime rules such as Convention on the International Regulations for Preventing Collisions at Sea (COLREGS). Realtime obstacle avoidance for USVs can be achieved with distance and bearing information obtained by lidar (light detection and ranging), radar (radio detection and ranging) etc. sensors. But if these sensors fail while USVs are at sea, alternative strategies are needed to execute local obstacle avoidance for maintaining the safety of life and property at sea. In this paper, we present COLREGS based obstacle avoidance and path planning using Fast Marching Square algorithm for multiple USVs and effectiveness of visual guidance aided bearing only navigation in case of distance measuring sensor failure.
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COLREGS Based Path Planning and Bearing Only Obstacle Avoidance for Autonomous Unmanned Surface Vehicles
Semantic Scholar · Engineering · 2018
Abstract
Obstacle avoidance for autonomous unmanned surface vehicles (USV) is a very critical issue and must be in accordance with international maritime rules such as Convention on the International Regulations for Preventing Collisions at Sea (COLREGS). Realtime obstacle avoidance for USVs can be achieved with distance and bearing information obtained by lidar (light detection and ranging), radar (radio detection and ranging) etc. sensors. But if these sensors fail while USVs are at sea, alternative strategies are needed to execute local obstacle avoidance for maintaining the safety of life and property at sea. In this paper, we present COLREGS based obstacle avoidance and path planning using Fast Marching Square algorithm for multiple USVs and effectiveness of visual guidance aided bearing only navigation in case of distance measuring sensor failure.