Autonomous Collision Avoidance Tradespace Analysis for High-Speed Vessels
Name
2015_FAST_WOERNER_submit_eqn-change.pdf
Description
Final Manuscript
Size
2.76 MB
Format
Adobe PDF
Checksum (MD5)
344c2bb21554035074b94e1446003fd0
Author(s)
Woerner, Kyle
Benjamin, Michael
Date Issued
September 2015
Journal
13th International Conference on Fast Sea Transportation
Publisher
Society of Naval Architects and Marine Engineers
Citation
Woerner, Kyle L., Michael R. Benjamin."Autonomous Collision Avoidance Tradespace Analysis for High-Speed Vessels." 13th International Conference on Fast Sea Transportation, FAST 2015, Washington, D.C., September 1-4 2015.
Version
Author's final manuscript
Abstract
In this work, a tradespace was introduced allowing a weighted combination of a course change and speed change when deviating from the preferred velocity vector in protocol - constrained autonomous collision avoidance algorithms. A novel iterative geometry testing technique was introduced and key evaluation metrics were studied including the introduction of a protocol - compliance metric for collision avoidance scenario s. The performance metric results differ ed for high - speed vessels indicating a need for parameter tuning specific to high - speed vessels before applying collision avoidance algorithms tested on slower vessels.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
www.sname.org/fast2015
