A collision avoidance algorithm with intention prediction for inland waterways ships

Tran, Hoang Anh; Johansen, Tor Arne; Negenborn, R.R.

doi:10.1016/j.ifacol.2023.10.1805

A collision avoidance algorithm with intention prediction for inland waterways ships

Title

A collision avoidance algorithm with intention prediction for inland waterways ships

Author

Tran, Hoang Anh (Norwegian University of Science and Technology (NTNU))
Johansen, Tor Arne (Norwegian University of Science and Technology (NTNU))
Negenborn, R.R. (TU Delft Transport Engineering and Logistics)

Date

2023

Abstract

Collision avoidance is one of the most challenging problems in developing a Maritime Autonomous Surface Ship. This paper proposes a pro-active collision avoidance algorithm for inland waterway ships. The algorithm addresses the problem of avoiding collisions with dynamic obstacles by applying a situation-based intention prediction for neighboring ships. This prediction algorithm allows own ship to be aware of future collision threats caused by the course changes of nearby ships. The prediction scheme is integrated into a scenario-based model predictive control scheme that has been modified for application in inland waterway traffic. The proposed algorithm can deal with complex traffic situations that a ship can encounter, and the performance of the proposed algorithm is evaluated in several experiment simulations.

Subject

Autonomous surface vehicles
control
Decision support systems
guidance
Marine system navigation
Model predictive control
Optimal marine system control

To reference this document use:

http://resolver.tudelft.nl/uuid:45398b72-9f83-46e7-8c03-757e10205de7

DOI

https://doi.org/10.1016/j.ifacol.2023.10.1805

Source

IFAC-PapersOnLine, 56 (2), 4337-4343

Event

22nd IFAC World Congress, 2023-07-09 → 2023-07-14, Yokohama, Japan

Part of collection

Institutional Repository