An automatic COLREGs-compliant obstacle avoidance system for an unmanned surface vehicle

作者：Campbell Sable; Abu Tair Mamun; Naeem Wasif^*

来源：Proceedings of the Institution of Mechanical Engineers - Part M: Journal of Engineering for the Maritime Environment , 2014, 228(2): 108-121.

DOI：10.1177/1475090213498229

• Unmanned surface vehicle
• obstacle detection
• path planning
• heuristics
• COLREGs

Unmanned surface vehicles are becoming increasingly vital tools in a variety of maritime applications. Unfortunately, their usability is severely constrained by the lack of a reliable obstacle detection and avoidance system. In this article, one such experimental platform is proposed, which performs obstacle detection, risk assessment and path planning (avoidance) tasks autonomously in an integrated manner. The detection system is based on a vision-LIDAR (light detection and ranging) system, whereas a heuristic path planner is utilised. A unique property of the path planner is its compliance with the marine collision regulations. It is demonstrated through hardware-in-the-loop simulations that the proposed system can be useful for both uninhabited and manned vessels.

• 出版日期2014-5