Navigation of unmanned marine vehicles in accordance with the rules of the road
This paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the Coast Guard Collision Regulations (COLREGS). These rules are written to train and guide safe human operation of marine...
| Main Authors: | , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
2006
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| _version_ | 1826269274789904384 |
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| author | Benjamin, MR Curcio, J Leonard, J Newman, P |
| author_facet | Benjamin, MR Curcio, J Leonard, J Newman, P |
| author_sort | Benjamin, MR |
| collection | OXFORD |
| description | This paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the Coast Guard Collision Regulations (COLREGS). These rules are written to train and guide safe human operation of marine vehicles and are heavily dependent on human common sense in determining rule applicability as well as rule execution, especially when multiple rules apply simultaneously. To capture the flexibility exploited by humans, this work applies a novel method of multi-objective optimization, interval programming, in a behavior-based control framework for representing the navigation rules, as well as task behaviors, in a way that achieves simultaneous optimal satisfaction. We present experimental validation of this approach using multiple autonomous surface craft. This work represents the first in-field demonstration of multi-objective optimization applied to autonomous COLREGS-based marine vehicle navigation. © 2006 IEEE. |
| first_indexed | 2024-03-06T21:22:31Z |
| format | Journal article |
| id | oxford-uuid:41f32705-0a47-43da-bcf4-908e8ee50fb9 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T21:22:31Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | oxford-uuid:41f32705-0a47-43da-bcf4-908e8ee50fb92022-03-26T14:46:39ZNavigation of unmanned marine vehicles in accordance with the rules of the roadJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:41f32705-0a47-43da-bcf4-908e8ee50fb9EnglishSymplectic Elements at Oxford2006Benjamin, MRCurcio, JLeonard, JNewman, PThis paper is concerned with the in-field autonomous operation of unmanned marine vehicles in accordance with convention for safe and proper collision avoidance as prescribed by the Coast Guard Collision Regulations (COLREGS). These rules are written to train and guide safe human operation of marine vehicles and are heavily dependent on human common sense in determining rule applicability as well as rule execution, especially when multiple rules apply simultaneously. To capture the flexibility exploited by humans, this work applies a novel method of multi-objective optimization, interval programming, in a behavior-based control framework for representing the navigation rules, as well as task behaviors, in a way that achieves simultaneous optimal satisfaction. We present experimental validation of this approach using multiple autonomous surface craft. This work represents the first in-field demonstration of multi-objective optimization applied to autonomous COLREGS-based marine vehicle navigation. © 2006 IEEE. |
| spellingShingle | Benjamin, MR Curcio, J Leonard, J Newman, P Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title | Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title_full | Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title_fullStr | Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title_full_unstemmed | Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title_short | Navigation of unmanned marine vehicles in accordance with the rules of the road |
| title_sort | navigation of unmanned marine vehicles in accordance with the rules of the road |
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