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Probabilistic Collision Avoidance for Vessels

  • 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.

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Metadaten
Author:Michael BlaichGND, Steffen Köhler, Johannes ReuterORCiD, Axel HahnGND
DOI:https://doi.org/10.1016/j.ifacol.2015.10.260
Parent Title (English):10th IFAC Conference on Manoeuvring and Control of Marine Craft MCMC 2015, Copenhagen, 24–26 August 2015 (IFAC-PapersOnLine Vol. 48, Iss. 16)
Document Type:Conference Proceeding
Language:English
Year of Publication:2015
Release Date:2018/02/27
Tag:Collision avoidance; Path planning; Probabilistic Obstacles; Ship navigation
First Page:69
Last Page:74
Note:
Volltextzugriff für Angehörige der Hochschule Konstanz möglich
Relevance:Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband)
Open Access?:Nein
Licence (English):License LogoLizenzbedingungen Elsevier