COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts

Thomas Thuesen Enevoldsen, Christopher Clarc Reinartz, Roberto Galeazzi

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The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path deviation is to be generated. The sampling strategy is integrated within the optimal rapidly-exploring random tree algorithm, which minimizes the length of the path deviation. Further, the feasibility of the path with respect to the steering characteristics of own ship is verified by ensuring that the position of the new waypoints respects the minimum turning radius of the vessel. The proposed sampling strategy brings a significant performance improvement both in terms of optimal cost, computational speed and convergence rate.
Original languageEnglish
Title of host publicationProceedings of 2021 IEEE International Conference on Robotics and Automation
Number of pages7
Publication date2021
ISBN (Print)978-1-7281-9078-5
Publication statusPublished - 2021
Event2021 IEEE International Conference on Robotics and Automation - Xi’an International Convention and Exhibition Center, Xi’an, China
Duration: 30 May 20215 Jun 2021


Conference2021 IEEE International Conference on Robotics and Automation
LocationXi’an International Convention and Exhibition Center


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