Ship collision avoidance and COLREGS compliance using simulation-based control behavior selection with predictive hazard assessment
Johansen, Tor Arne, Perez, Tristan, & Cristofaro, Andrea (2016) Ship collision avoidance and COLREGS compliance using simulation-based control behavior selection with predictive hazard assessment. IEEE Transactions on Intelligent Transportation Systems. (In Press)
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This paper describes a concept for a collision avoidance system for ships, which is based on model predictive control. A finite set of alternative control behaviors are generated by varying two parameters: offsets to the guidance course angle commanded to the autopilot and changes to the propulsion command ranging from nominal speed to full reverse. Using simulated predictions of the trajectories of the obstacles and ship, compliance with the Convention on the International Regulations for Preventing Collisions at Sea and collision hazards associated with each of the alternative control behaviors are evaluated on a finite prediction horizon, and the optimal control behavior is selected. Robustness to sensing error, predicted obstacle behavior, and environmental conditions can be ensured by evaluating multiple scenarios for each control behavior. The method is conceptually and computationally simple and yet quite versatile as it can account for the dynamics of the ship, the dynamics of the steering and propulsion system, forces due to wind and ocean current, and any number of obstacles. Simulations show that the method is effective and can manage complex scenarios with multiple dynamic obstacles and uncertainty associated with sensors and predictions.
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|Item Type:||Journal Article|
|Keywords:||Autonomous ships, Collision avoidance, Safety, Trajectory optimisation|
|Subjects:||Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Dynamical Systems in Applications (010204)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MARITIME ENGINEERING (091100)
Australian and New Zealand Standard Research Classification
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Mathematical & Statistical Frontiers (ACEMS)
Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Facilities:||Science and Engineering Centre|
|Copyright Owner:||Copyright 2016 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.|
|Deposited On:||16 May 2016 00:01|
|Last Modified:||22 May 2016 05:36|
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