Intent inference-based ship collision avoidance in encounters with rule-violating vessels

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All vessels operating in a marine environment are required to comply with the international regulations for preventing collisions at sea (COLREGs), which provide the guidelines and evasive procedures required to resolve potential conflicts between vessels. However, not all vessels strictly abide by COLREGs, often leading to dangerous situations. This paper presents a novel approach for robust collision avoidance in encounter situations involving COLREG-violating vessels. A probabilistic velocity obstacle algorithm based on intent inference is designed and implemented with consideration of the tradeoff between the adherence to traffic rules and the proactive evasive actions for safety. One-to-one and multi-ship encounter situations in the presence of rule-violating vessels are examined through Monte-Carlo simulations, and the results are discussed to demonstrate the feasibility and performance of the proposed approach.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2022-01
Language
English
Article Type
Article
Citation

IEEE ROBOTICS AND AUTOMATION LETTERS, v.7, no.1, pp.518 - 525

ISSN
2377-3766
DOI
10.1109/LRA.2021.3130386
URI
http://hdl.handle.net/10203/290518
Appears in Collection
ME-Journal Papers(저널논문)
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