A planned approach to high collision risk area
Name
1227044247-MIT.pdf
Size
7.72 MB
Format
Adobe PDF
Checksum (MD5)
3c289aa4ede7e8e544151e39e12ab1de
Author(s)
Li, John Zhang.
Advisor(s)
Michael R. Benjamin and John J. Leonard.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
This thesis examines the transition of a vessel from the open ocean, where collisions are rare, to a high risk and heavy traffic area such as a Traffic Separation Scheme (TSS). Previous autonomy approaches generally view path planning and collision avoidance as two separate functions, i.e. a vessel will follow the planned path until conditions are met for collision avoidance algorithms to take over. Here an intermediate phase is proposed with the goal of adjusting the time of arrival to a high vessel density area so that the risk of collision is reduced. A general algorithm that calculates maximum future traffic density for all choices in the speed domain is proposed and implemented as a MOOS-IvP behavior. This behavior gives the vessel awareness of future collision risks and aids the collision avoidance process. This new approach improves the safety of the vessel by reducing the number of risky encounters that will likely require the vessel to maneuver for safety.
Description
Thesis: S.M., Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), September, 2020
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 103-107).
Subjects
Joint Program in Oceanography/Applied Ocean Science and Engineering.
Mechanical Engineering.
Woods Hole Oceanographic Institution.
MIT Department
Joint Program in Oceanography/Applied Ocean Science and Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
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