COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships
While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most sta...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/9/4/405 |
| _version_ | 1827695417035325440 |
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| author | Raphael Zaccone |
| author_facet | Raphael Zaccone |
| author_sort | Raphael Zaccone |
| collection | DOAJ |
| description | While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles. |
| first_indexed | 2024-03-10T12:26:03Z |
| format | Article |
| id | doaj.art-6323a8dc925e434cb93d0096664fc655 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T12:26:03Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-6323a8dc925e434cb93d0096664fc6552023-11-21T15:03:17ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-04-019440510.3390/jmse9040405COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous ShipsRaphael Zaccone0DITEN—Department of Naval Architecture, Electrical, Electronic and Telecommunications Engineering, Polytechnic School, University of Genoa, 16145 Genoa, ItalyWhile collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.https://www.mdpi.com/2077-1312/9/4/405autonomous shipautonomous navigationcollision avoidanceCOLREG compliancepath planningpath optimisation |
| spellingShingle | Raphael Zaccone COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships Journal of Marine Science and Engineering autonomous ship autonomous navigation collision avoidance COLREG compliance path planning path optimisation |
| title | COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships |
| title_full | COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships |
| title_fullStr | COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships |
| title_full_unstemmed | COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships |
| title_short | COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships |
| title_sort | colreg compliant optimal path planning for real time guidance and control of autonomous ships |
| topic | autonomous ship autonomous navigation collision avoidance COLREG compliance path planning path optimisation |
| url | https://www.mdpi.com/2077-1312/9/4/405 |
| work_keys_str_mv | AT raphaelzaccone colregcompliantoptimalpathplanningforrealtimeguidanceandcontrolofautonomousships |