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.
| 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; Ship navigation; Path planning; Probabilistic Obstacles |
| 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 (German): |  Urheberrechtlich geschützt |
