Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

Thomas T. Enevoldsen; Mogens Blanke; Roberto Galeazzi

doi:10.1016/j.ifacol.2023.10.528

Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

Thomas T. Enevoldsen
, Mogens Blanke
, Roberto Galeazzi

Department of Electrical and Photonics Engineering

Research output: Contribution to journal › Journal article › Research › peer-review

71 Downloads (Orbit)

Abstract

This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhoper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack.

Original language	English
Book series	IFAC-PapersOnLine
Volume	56
Issue number	2
Pages (from-to)	5735-5740
ISSN	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.528
Publication status	Published - 2023
Event	22^nd IFAC World Congress - Pacific Convention Plaza Yokohama, Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023 Conference number: 22

Conference

Conference	22^nd IFAC World Congress
Number	22
Location	Pacific Convention Plaza Yokohama
Country/Territory	Japan
City	Yokohama
Period	09/07/2023 → 14/07/2023
Sponsor	Azbil Corporation, Fujita Corporation, Hitachi, Ltd., Kumagai Gumi Co., Ltd., The Society of Instrument and Control Engineers (SICE)

Keywords

Autonomous surface vehicles
Guidance
Navigarion and Control
Collision and grounding avoidance
COLREGs compliance

Access to Document

10.1016/j.ifacol.2023.10.528

FulltextFinal published version, 1.86 MB

OpenUrl availability

Check availability in DTU Findit

Cite this

@article{c0f7ac25c101460994bfff8ebb8452bc,

title = "Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective",

abstract = "This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhoper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack. ",

keywords = "Autonomous surface vehicles, Guidance, Navigarion and Control, Collision and grounding avoidance, COLREGs compliance",

author = "Enevoldsen, \{Thomas T.\} and Mogens Blanke and Roberto Galeazzi",

year = "2023",

doi = "10.1016/j.ifacol.2023.10.528",

language = "English",

volume = "56",

pages = "5735--5740",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "Elsevier",

number = "2",

note = "22nd IFAC World Congress , IFAC 2023 ; Conference date: 09-07-2023 Through 14-07-2023",

}

TY - JOUR

T1 - Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

AU - Enevoldsen, Thomas T.

AU - Blanke, Mogens

AU - Galeazzi, Roberto

N1 - Conference code: 22

PY - 2023

Y1 - 2023

N2 - This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhoper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack.

AB - This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhoper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack.

KW - Autonomous surface vehicles

KW - Guidance

KW - Navigarion and Control

KW - Collision and grounding avoidance

KW - COLREGs compliance

U2 - 10.1016/j.ifacol.2023.10.528

DO - 10.1016/j.ifacol.2023.10.528

M3 - Journal article

SN - 2405-8963

VL - 56

SP - 5735

EP - 5740

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 2

T2 - 22nd IFAC World Congress

Y2 - 9 July 2023 through 14 July 2023

ER -

Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

Abstract

Conference

Keywords

Access to Document

OpenUrl availability

Fingerprint

Cite this