Autonomous Collision Avoidance Tradespace Analysis for High-Speed Vessels
In this work, a tradespace was introduced allowing a weighted combination of a course change and speed change when deviating from the preferred velocity vector in protocol - constrained autonomous collision avoidance algorithms. A novel iterative geometry testing technique...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Society of Naval Architects and Marine Engineers
2018
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| Online Access: | http://hdl.handle.net/1721.1/117066 https://orcid.org/0000-0002-9499-9630 |
| Summary: | In this work, a tradespace was introduced allowing a weighted combination of a course change and speed change when deviating from the preferred velocity vector in protocol - constrained autonomous collision avoidance algorithms. A novel iterative geometry testing technique was introduced and key evaluation metrics were studied including the introduction of a protocol - compliance metric for collision avoidance scenario s. The performance metric results differ ed for high - speed vessels indicating a need for parameter tuning specific to high - speed vessels before applying collision avoidance algorithms tested on slower vessels. |
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