Autonomous COLREGS Modes and Velocity Functions
This paper concerns an implementation of an autonomy system for unmanned surface vessels operating in accordance with the Coast Guard Collision Regulations (COLREGS). The autonomy system is implemented by associating a dedicated ownship behavior module for each contact for collision avoidance. For e...
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2017
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| Online Access: | http://hdl.handle.net/1721.1/109146 |
| _version_ | 1826194895859089408 |
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| author | Benjamin, Michael R. |
| author2 | John Leonard |
| author_facet | John Leonard Benjamin, Michael R. |
| author_sort | Benjamin, Michael R. |
| collection | MIT |
| description | This paper concerns an implementation of an autonomy system for unmanned surface vessels operating in accordance with the Coast Guard Collision Regulations (COLREGS). The autonomy system is implemented by associating a dedicated ownship behavior module for each contact for collision avoidance. For each behavior, a mode determination is made based on the COLREGS rules, ownship position and trajectory, and the contact position and trajectory. Based on the mode, an appropriate objective function is generated, over the set of possible ownship maneuvers, to bias the vehicle in accordance with the COLREGS. The focus on this paper is solely on (a) the mode determination algorithms, (b) the requisite ownship and contact terms regarding position, trajectory and relative position utilized in the mode determination algorithms, and (c) the form and equations used in making the objective functions associated with each mode. |
| first_indexed | 2024-09-23T10:03:51Z |
| id | mit-1721.1/109146 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T10:03:51Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | mit-1721.1/1091462019-04-11T07:22:45Z Autonomous COLREGS Modes and Velocity Functions Benjamin, Michael R. John Leonard Marine Robotics Autonomy Marine Autonomy Unmanned Surface Vehicles Collision Avoidance Multi-Objective Optimization Interval Programming IvP MOOS-IvP pHelmIvP Collision Regulations Velocity Functions Objective Functions Autonomous Surface Vehicle Autonomous Marine Vehicle Rules of the Road This paper concerns an implementation of an autonomy system for unmanned surface vessels operating in accordance with the Coast Guard Collision Regulations (COLREGS). The autonomy system is implemented by associating a dedicated ownship behavior module for each contact for collision avoidance. For each behavior, a mode determination is made based on the COLREGS rules, ownship position and trajectory, and the contact position and trajectory. Based on the mode, an appropriate objective function is generated, over the set of possible ownship maneuvers, to bias the vehicle in accordance with the COLREGS. The focus on this paper is solely on (a) the mode determination algorithms, (b) the requisite ownship and contact terms regarding position, trajectory and relative position utilized in the mode determination algorithms, and (c) the form and equations used in making the objective functions associated with each mode. 2017-05-17T16:00:05Z 2017-05-17T16:00:05Z 2017-05-16 2017-05-17T16:00:05Z http://hdl.handle.net/1721.1/109146 MIT-CSAIL-TR-2017-009 Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ 47 p. application/pdf |
| spellingShingle | Autonomy Marine Autonomy Unmanned Surface Vehicles Collision Avoidance Multi-Objective Optimization Interval Programming IvP MOOS-IvP pHelmIvP Collision Regulations Velocity Functions Objective Functions Autonomous Surface Vehicle Autonomous Marine Vehicle Rules of the Road Benjamin, Michael R. Autonomous COLREGS Modes and Velocity Functions |
| title | Autonomous COLREGS Modes and Velocity Functions |
| title_full | Autonomous COLREGS Modes and Velocity Functions |
| title_fullStr | Autonomous COLREGS Modes and Velocity Functions |
| title_full_unstemmed | Autonomous COLREGS Modes and Velocity Functions |
| title_short | Autonomous COLREGS Modes and Velocity Functions |
| title_sort | autonomous colregs modes and velocity functions |
| topic | Autonomy Marine Autonomy Unmanned Surface Vehicles Collision Avoidance Multi-Objective Optimization Interval Programming IvP MOOS-IvP pHelmIvP Collision Regulations Velocity Functions Objective Functions Autonomous Surface Vehicle Autonomous Marine Vehicle Rules of the Road |
| url | http://hdl.handle.net/1721.1/109146 |
| work_keys_str_mv | AT benjaminmichaelr autonomouscolregsmodesandvelocityfunctions |