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Title:COLREGs-aware trajectory optimization for autonomous surface vessels
Authors:A. Tsolakis, D. Benders, O. de Groot, R.R. Negenborn, V. Reppa, L. Ferranti

Conference:14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (IEEE CAMS'22)
Address:Kongens Lyngby, Denmark
Date:September 2022

Abstract:This work presents a rule-compliant trajectory optimization method for the guidance and control of Autonomous Surface Vessels. The method builds upon the notion of Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea—known as COLREGs. We use these traffic rules to derive a trajectory optimization algorithm that guarantees safe navigation in mixed-traffic conditions, that is, in traffic environments with human operated vessels. The choice of an optimization-based approach enables the formalization of abstract verbal expressions, such as traffic rules, and their incorporation in the trajectory optimization algorithm along with the dynamics and other constraints that dictate the system's evolution over a sufficiently long receding horizon. The ability to plan under consideration of all these different types of constraints over long horizons in a unified manner leads to a proactive motion planner that mimics rule-compliant maneuvering behavior. The efficacy of the derived algorithm is validated in different simulation scenarios.

Reference:COLREGs-aware trajectory optimization for autonomous surface vessels. A. Tsolakis, D. Benders, O. de Groot, R.R. Negenborn, V. Reppa, L. Ferranti. Accepted for the 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (IEEE CAMS'22), Kongens Lyngby, Denmark, September 2022.
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