COLREGS-COMPLIANT PATH PLANNING FOR AUTONOMOUS SURFACE VEHICLES: A MULTIOBJECTIVE OPTIMIZATION APPROACH

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dc.cclicenceCC-BY-NCen
dc.contributor.authorHu, Liangen
dc.contributor.authorNaeem, W.en
dc.contributor.authorRajabally, E.en
dc.contributor.authorWatson, G.en
dc.contributor.authorMills, T.en
dc.contributor.authorBhuiyan, Z.en
dc.contributor.authorSalter, I.en
dc.date.acceptance2017-08-25en
dc.date.accessioned2018-03-05T11:04:28Z
dc.date.available2018-03-05T11:04:28Z
dc.date.issued2017-10-18
dc.descriptionThe file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link. Open access.en
dc.description.abstractIn this paper, a multiobjective optimization framework is proposed for on-line path planning of autonomous surface vehicles (ASVs), where both collision avoidance and COLREGscompliance are taken into account. Special attention has been paid to situational awareness and risk assessment, particularly when the target ship is in breach of the COLREGs rules defined by the International Maritime Organisation. In order to implement COLREGs, the rules together with physical constraints are formulated as mathematical inequalities. A multiobjective optimization problem based on particle swarm optimization is then solved, the solution of which represents a newly-generated path. It is shown through simulations that the proposed method is able to generate COLREGs-compliant and collision-free paths even for non-cooperative targets i.e. vessels that are in breach of COLREGs.en
dc.exception.ref2021codes254aen
dc.funderInnovate UKen
dc.identifier.citationHu, L., Naeem, W., Rajabally, E., Watson, G., Mills, T., Bhuiyan, Z. and Salter, I. (2017) COLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach. IFAC-PapersOnLine, 50(1), pp. 13662-13667. DOI: 10.1016/j.ifacol.2017.08.2525en
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2017.08.2525
dc.identifier.urihttp://hdl.handle.net/2086/15329
dc.language.isoenen
dc.peerreviewedYesen
dc.projectidTSB 102308en
dc.publisherElsevieren
dc.researchgroupDIGITSen
dc.researchinstituteInstitute of Artificial Intelligence (IAI)en
dc.subjectUnmanned surface vehiclesen
dc.subjectrisk assessmenten
dc.subjectcollision avoidanceen
dc.subjectdecision makingen
dc.subjectpath planningen
dc.subjectCOLREGsen
dc.titleCOLREGS-COMPLIANT PATH PLANNING FOR AUTONOMOUS SURFACE VEHICLES: A MULTIOBJECTIVE OPTIMIZATION APPROACHen
dc.typeArticleen

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