Motion safety for vessels : An approach based on Inevitable Collision States
- 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.
Author: | Michael BlaichGND, Simon Weber, Johannes ReuterORCiD, Axel HahnGND |
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ISBN: | 978-1-4799-9994-1 |
Parent Title (English): | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Congress Center Hamburg, Sept. 28 2015 - Oct. 2 2015 |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2015 |
Release Date: | 2018/02/27 |
Tag: | traffic control; collision avoidance; marine safety |
First Page: | 1077 |
Last Page: | 1082 |
Note: | Volltextzugriff für Hochschulangehörige via Datenbank IEEE Xplore |
Open Access?: | Nein |