A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters
Peer reviewed, Journal article
Published version
Åpne
Permanent lenke
https://hdl.handle.net/11250/2772865Utgivelsesdato
2020Metadata
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Originalversjon
https://doi.org/10.1016/j.ifacol.2020.12.1472Sammendrag
A deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that are collision-free with respect to static obstacles. Hence, the collision avoidance problem is reduced to a velocity planning problem, which is solved by first transforming all dynamic obstacles to a path-time space and subsequently constructing a conditioned visibility graph and traversing it with Dijkstra’s algorithm. The performance of this approach is demonstrated through both simulations and full-scale experiments in Trondheim harbor, using the NTNU milliAmpere ferry platform and virtual dynamic obstacles.