Grounding-aware RRT* for Path Planning and Safe Navigation of Marine Crafts in Confined Waters

Thomas T. Enevoldsen, Roberto Galeazzi

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    Abstract

    The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by integrating a collective navigation experience with the systematic use of water depth information from the electronic navigational chart. Multivariate kernel density estimation is applied to historical AIS data to generate a probabilistic model describing seafarer's best practices while sailing in confined waters. This knowledge is then encoded into the RRT* cost function to penalize path deviations that would lead own ship to sail in shallow waters. Depth contours satisfying the own ship draught define the actual navigable area, and triangulation of this non-convex region is adopted to enable uniform sampling. This ensures the optimal path deviation.
    Original languageEnglish
    Book seriesIFAC-PapersOnLine
    Volume54
    Issue number16
    Pages (from-to)195-201
    ISSN2405-8963
    DOIs
    Publication statusPublished - 2021
    Event13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles - Online event
    Duration: 22 Sept 202124 Sept 2021
    Conference number: 13
    https://cams-2021.com

    Conference

    Conference13th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles
    Number13
    LocationOnline event
    Period22/09/202124/09/2021
    Internet address

    Keywords

    • Path planning
    • Collision and grounding avoidance
    • Kernel density estimation
    • AIS

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