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Autonomous COLREGS Modes and Velocity Functions

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dc.contributor.advisor John Leonard
dc.contributor.author Benjamin, Michael R. en_US
dc.contributor.other Marine Robotics en
dc.date.accessioned 2017-05-17T16:00:05Z
dc.date.available 2017-05-17T16:00:05Z
dc.date.issued 2017-05-16
dc.identifier.uri http://hdl.handle.net/1721.1/109146
dc.description.abstract This paper concerns an implementation of an autonomy system for unmanned surface vessels operating in accordance with the Coast Guard Collision Regulations (COLREGS). The autonomy system is implemented by associating a dedicated ownship behavior module for each contact for collision avoidance. For each behavior, a mode determination is made based on the COLREGS rules, ownship position and trajectory, and the contact position and trajectory. Based on the mode, an appropriate objective function is generated, over the set of possible ownship maneuvers, to bias the vehicle in accordance with the COLREGS. The focus on this paper is solely on (a) the mode determination algorithms, (b) the requisite ownship and contact terms regarding position, trajectory and relative position utilized in the mode determination algorithms, and (c) the form and equations used in making the objective functions associated with each mode. en_US
dc.format.extent 47 p. en_US
dc.relation.ispartofseries MIT-CSAIL-TR-2017-009
dc.rights Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International en
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject Autonomy en_US
dc.subject Marine Autonomy en_US
dc.subject Unmanned Surface Vehicles en_US
dc.subject Collision Avoidance en_US
dc.subject Multi-Objective Optimization en_US
dc.subject Interval Programming en_US
dc.subject IvP en_US
dc.subject MOOS-IvP en_US
dc.subject pHelmIvP en_US
dc.subject Collision Regulations en_US
dc.subject Velocity Functions en_US
dc.subject Objective Functions en_US
dc.subject Autonomous Surface Vehicle en_US
dc.subject Autonomous Marine Vehicle en_US
dc.subject Rules of the Road en_US
dc.title Autonomous COLREGS Modes and Velocity Functions en_US
dc.date.updated 2017-05-17T16:00:05Z


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