Conference paper · Preprint article
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path deviation is to be generated.
The sampling strategy is integrated within the optimal rapidly-exploring random tree algorithm, which minimizes the length of the path deviation. Further, the feasibility of the path with respect to the steering characteristics of own ship is verified by ensuring that the position of the new waypoints respects the minimum turning radius of the vessel.
The proposed sampling strategy brings a significant performance improvement both in terms of optimal cost, computational speed and convergence rate.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2021 |
| Pages: | 8083-8089 |
| Proceedings: | 2021 IEEE International Conference on Robotics and Automation |
| ISBN: | 1728190770 , 1728190789 , 9781728190778 and 9781728190785 |
| ISSN: | 10504729 and 2577087x |
| Types: | Conference paper and Preprint article |
| DOI: | 10.1109/ICRA48506.2021.9560909 |
| ORCIDs: | Enevoldsen, Thomas Thuesen , Reinartz, Christopher Clarc and Galeazzi, Roberto |
COLREGs-informed RRT Collision avoidance Convergence Marine vehicles Navigation Sea surface System dynamics Turning collision avoidance compliant region cs.RO cs.SY eess.SY marine crafts minimal ship domain mobile robots optimal cost optimal path alteration path deviation path planning random tree algorithm safe navigation sampling methods sampling strategy ships surface vessel sailing trees (mathematics)
