dc.contributor.author | Kufoalor, D. Kwame Minde | |
dc.contributor.author | Wilthil, Erik Falmår | |
dc.contributor.author | Hagen, Inger Berge | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2019-11-25T11:07:14Z | |
dc.date.available | 2019-11-25T11:07:14Z | |
dc.date.created | 2019-11-23T11:10:58Z | |
dc.date.issued | 2019 | |
dc.identifier.isbn | 978-3-907144-00-8 | |
dc.identifier.uri | http://hdl.handle.net/11250/2630225 | |
dc.description.abstract | This paper addresses the challenges of making safe and predictable collision avoidance decisions considering uncertainties related to maritime radar tracking. When a maritime radar is used for autonomous collision avoidance, strategies for handling uncertain obstacle tracks, false tracks, and track loss become necessary. Robust decisions are needed in order to achieve clear and predictable actions according to the international regulations for preventing collisions at sea (COLREGs). We present robustness considerations and results of using an Integrated Probabilistic Data Association (IPDA) tracking method with a collision avoidance method based on Model Predictive Control. The results are from full-scale experiments that cover challenging multiple dynamic obstacle scenarios, including realistic vessel interactions where some obstacles obey COLREGs, while others do not. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | 2019 18th European Control Conference (ECC) | |
dc.title | Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.23919/ECC.2019.8796273 | |
dc.identifier.cristin | 1751308 | |
dc.relation.project | Norges forskningsråd: 244116 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |