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

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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 Sep 202124 Sep 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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