Work

COLREGs-compliant Planning Architecture For Autonomous Surface Vehicles

Year: 2024

Type: conference-paper

Abstract: This paper presents a three-level planning architecture designed to enforce different international maritime rules (COLREGs), enhancing navigation safety and autonomy. The architecture consists of a global path planning layer for static obstacle avoidance, a local path planning layer incorporating dynamic obstacle data and COLREGs rules, and a reactive obstacle avoidance layer that addresses unexpected encounters in real-time. Preliminary tests at sea were conducted on the proposed approach, demonstrating its ability to achieve rules compliant behaviour.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.14731189

Authors: Depalo, Samuele, Wanderlingh, Francesco, Indiveri, Giovanni, Simetti, Enrico

Language: English

Topic: Maritime Navigation and Safety

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6949272910

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