Ship Collision Avoidance and COLREGS Compliance Using Simulation-Based Control Behavior Selection With Predictive Hazard Assessment

@article{Johansen2016ShipCA,
  title={Ship Collision Avoidance and COLREGS Compliance Using Simulation-Based Control Behavior Selection With Predictive Hazard Assessment},
  author={Tor Arne Johansen and Tristan Perez and Andrea Cristofaro},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2016},
  volume={17},
  pages={3407-3422}
}
This paper describes a concept for a collision avoidance system for ships, which is based on model predictive control. A finite set of alternative control behaviors are generated by varying two parameters: offsets to the guidance course angle commanded to the autopilot and changes to the propulsion command ranging from nominal speed to full reverse. Using… CONTINUE READING

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