Ship collision avoidance using scenario-based model predictive control
Johansen, Tor A., Cristofaro, Andrea, & Perez, Tristan (2016) Ship collision avoidance using scenario-based model predictive control. In 10th IFAC Conference on Control Applications in Marine Systems, 13-16 September 2016, Trondheim, Norway. (Unpublished)
A set of alternative collision avoidance control behaviors are parameterized by 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 predictions of the trajectories of the obstacles and ship, the compliance with the COLREGS rules and collision hazards associated with the alternative control behaviors are evaluated on a finite prediction horizon. The optimal control behavior is computed in a model predictive control implementation strategy. Uncertainty can be accounted for by increasing safety margins or evaluating multiple scenarios for each control behavior. Simulations illustrate the effectiveness in test cases involving multiple dynamic obstacles and uncertainty associated with sensors and predictions.
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|Item Type:||Conference Paper|
|Keywords:||Autonomous Ships, Collision Avoidance, Trajectory optimization, Hazard, Safety|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2016 [please consult the authors]|
|Deposited On:||30 Jun 2016 23:08|
|Last Modified:||19 Sep 2016 16:39|
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