Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Dimitrios Papageorgiou; Mogens Blanke; Marie Lützen; Mette Bennedsen; John Mogensen; Søren Hansen

doi:10.1016/j.ifacol.2019.12.291

Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Dimitrios Papageorgiou, Mogens Blanke, Marie Lützen, Mette Bennedsen, John Mogensen, Søren Hansen

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

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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.

Original language	English
Journal	IFAC-PapersOnLine
Volume	52
Issue number	21
Pages (from-to)	103-110
ISSN	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.291
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)
Location	KAIST
Country	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

Cite this

Papageorgiou, D., Blanke, M., Lützen, M., Bennedsen, M., Mogensen, J., & Hansen, S. (2019). Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours. IFAC-PapersOnLine, 52(21), 103-110. https://doi.org/10.1016/j.ifacol.2019.12.291

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AU - Hansen, Søren

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10.1016/j.ifacol.2019.12.291

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