Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints
This article presents a trajectory planning method for autonomous surface vessels that is compliant with Rule 8 and rules 13-17 from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). The method is suitable for operation in restricted waters, where it both ha...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2022-04-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2022/MIC-2022-2-2.pdf |