TY - GEN
T1 - COLREGs based navigation of riverine Autonomous Surface Vehicle
AU - Mei, Jian Hong
AU - Arshad, Mohd Rizal
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/4/6
Y1 - 2017/4/6
N2 - The International Regulations for Preventing Collisions at Sea (COLREGs) are defined by the International Marine Organization (IMO) to be followed by all marine vessels. Autonomous Surface Vehicle (ASV) is supposed to obey COLREGs when it is moving on the waterway. However, in some critical cases, the collision risk is high if the ASV follows the marine traffic rules when it encounters other vehicles. This paper presents an ASV that cruises in the river for river tracking and obstacles avoidance. To solve the conflict between following COLREGs and collision, encounter situation identification and Artificial Potential Field are combined to navigate the ASV in the river. The simulation results show that the ASV is able to make a rational decision to avoid collision and successfully navigated by the proposed method in a riverine environment with both static and dynamic obstacles.
AB - The International Regulations for Preventing Collisions at Sea (COLREGs) are defined by the International Marine Organization (IMO) to be followed by all marine vessels. Autonomous Surface Vehicle (ASV) is supposed to obey COLREGs when it is moving on the waterway. However, in some critical cases, the collision risk is high if the ASV follows the marine traffic rules when it encounters other vehicles. This paper presents an ASV that cruises in the river for river tracking and obstacles avoidance. To solve the conflict between following COLREGs and collision, encounter situation identification and Artificial Potential Field are combined to navigate the ASV in the river. The simulation results show that the ASV is able to make a rational decision to avoid collision and successfully navigated by the proposed method in a riverine environment with both static and dynamic obstacles.
KW - Artificial Potential Field
KW - Autonomous Surface Vehicle
KW - COLREGs
KW - encounter situation identification
UR - http://www.scopus.com/inward/record.url?scp=85018313433&partnerID=8YFLogxK
U2 - 10.1109/USYS.2016.7893915
DO - 10.1109/USYS.2016.7893915
M3 - Conference Proceeding
AN - SCOPUS:85018313433
T3 - USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications
SP - 145
EP - 149
BT - USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016
Y2 - 13 December 2016 through 14 December 2016
ER -
