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Abstract
With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessment
from decision making. An intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.
from decision making. An intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.
Original language | English |
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Book series | IFAC-PapersOnLine |
Volume | 52 |
Issue number | 21 |
Pages (from-to) | 103-110 |
ISSN | 2405-8963 |
DOIs | |
Publication status | Published - 2019 |
Event | 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019) - KAIST, Daejeon, Korea, Republic of Duration: 18 Sep 2019 → 20 Sep 2019 |
Conference
Conference | 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019) |
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Location | KAIST |
Country/Territory | Korea, Republic of |
City | Daejeon |
Period | 18/09/2019 → 20/09/2019 |
Keywords
- Autonomous vessels
- Situation assessment
- Discrete-event systems
- Finite-state automata
- COLREGs representation
- Collision avoidance
Fingerprint
Dive into the research topics of 'Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours'. Together they form a unique fingerprint.Projects
- 2 Finished
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ShippingLab Autonomy
Blanke, M., Galeazzi, R., Dittmann, K., Hansen, S., Papageorgiou, D., Nalpantidis, L., Schöller, F. E. T. S., Plenge-Feidenhans'l, M. K., Hansen, N., Andersen, R. H., Becktor, J. B., Enevoldsen, T. T., Dagdilelis, D., Karstensen, P. I. H., Nielsen, R. E., Garde, J., Ravn, O., Christin, L. P. E. & Nielsen, R. E.
01/04/2019 → 31/12/2022
Project: Research
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ASAN: Autonomous Situation Awareness for Navigation
Blanke, M., Hansen, S., Papageorgiou, D. & Stets, J. D.
01/12/2018 → 31/03/2021
Project: Research