TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Blaich, Michael
A1  - Köhler, Steffen
A1  - Reuter, Johannes
A1  - Hahn, Axel
T1  - Probabilistic Collision Avoidance for Vessels
T2  - 10th IFAC Conference on Manoeuvring and Control of Marine Craft MCMC 2015, Copenhagen, 24–26 August 2015 (IFAC-PapersOnLine Vol. 48, Iss. 16)
N2  - The improvement of collision avoidance for vessels in close range encounter situations is an important topic for maritime traffic safety. Typical approaches generate evasive trajectories or optimise the trajectories of all involved vessels. Such a collision avoidance system has to produce evasive manoeuvres that do not confuse other navigators. To achieve this behaviour, a probabilistic obstacle handling based on information from a radar sensor with target tracking, that considers measurement and tracking uncertainties is proposed. A grid based path search algorithm, that takes the information from the probabilistic obstacle handling into account, is then used to generate evasive trajectories. The proposed algorithms have been tested and verified in a simulated environment for inland waters.
KW  - Collision avoidance
KW  - Ship navigation
KW  - Path planning
KW  - Probabilistic Obstacles
Y1  - 2015
U6  - https://doi.org/10.1016/j.ifacol.2015.10.260
DO  - https://doi.org/10.1016/j.ifacol.2015.10.260
N1  - Volltextzugriff für Angehörige der Hochschule Konstanz möglich
SP  - 69
EP  - 74
ER  -