dc.contributor.author | Tengesdal, Trym | |
dc.contributor.author | Johansen, Tor Arne | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.date.accessioned | 2020-11-10T09:20:07Z | |
dc.date.available | 2020-11-10T09:20:07Z | |
dc.date.created | 2020-10-04T17:07:38Z | |
dc.date.issued | 2020 | |
dc.identifier.isbn | 978-0-578-64709-8 | |
dc.identifier.uri | https://hdl.handle.net/11250/2687056 | |
dc.description.abstract | A robust and efficient Collision Avoidance (COLAV) system for autonomous ships is dependent on a high degree of situational awareness. This includes inference of the intent of nearby obstacles, including compliance with traffic rules such as COLREGS, in order to enable more intelligent decision making for the autonomous agent. Here, a generalized framework for obstacle intent inference is introduced. Different obstacle intentions are then considered in the Probabilistic Scenario-Based Model Predictive Control (PSB-MPC) COLAV algorithm using an examplatory intent model, when statistics about traffic rules compliance and the next waypoint for an obstacle are assumed known. Simulation results show that the resulting COLAV system is able to make safer decisions when utilizing the extra intent information | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2020 IEEE 23rd International Conference on Information Fusion (FUSION) | |
dc.title | Risk-based Autonomous Maritime Collision Avoidance Considering Obstacle Intentions | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.identifier.doi | 10.23919/FUSION45008.2020.9190212 | |
dc.identifier.cristin | 1836889 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2020 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. | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |