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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.

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Author:Michael BlaichGND, Simon Weber, Johannes ReuterORCiD, Axel HahnGND
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
Year of Publication:2015
Release Date:2018/02/27
Tag:traffic control; collision avoidance; marine safety
First Page:1077
Last Page:1082
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Open Access?:Nein