TY - CHAP U1 - Konferenzveröffentlichung A1 - Blaich, Michael A1 - Weber, Simon A1 - Reuter, Johannes A1 - Hahn, Axel T1 - Motion safety for vessels BT - An approach based on Inevitable Collision States T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Congress Center Hamburg, Sept. 28 2015 - Oct. 2 2015 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. The idea of this work is to validate these trajectories related to guaranteed motion safety, which means that it is not sufficient for a trajectory to be collision-free, but it must additionally ensure that an evasive manoeuvre is performable at any time. An approach using the distance and the evolution of the distance to the other vessels is proposed. The concept of Inevitable Collision States (ICS) is adopted to identify the states for which no evasive manoeuvre exist. Furthermore, it is implemented into a collision avoidance system for recreational crafts to demonstrate the performance. KW - traffic control KW - collision avoidance KW - marine safety Y1 - 2015 SN - 978-1-4799-9994-1 SB - 978-1-4799-9994-1 N1 - Volltextzugriff für Hochschulangehörige via Datenbank IEEE Xplore SP - 1077 EP - 1082 ER -