Han, Zhepeng, Wu, Da, Zhang, Jinfen, Huang, Tao, Han, Qing-Long, and Zhang, Mingyang (2024) COLREGs-Adaptive trajectory planning and decision-making in maritime autonomous surface ships. Ocean Engineering, 312 (Part 3). 119308.

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Abstract

Decision-making for collision avoidance and trajectory planning are critical technologies for maritime autonomous surface ships. These systems must align with regulatory frameworks such as the International Regulations for Preventing Collisions at Sea (COLREGs) and account for the ship’s maneuvering capabilities for effective control and tracking. This study introduces a novel framework integrating regulatory consideration into the path-searching process, enhancing collision avoidance in both COLREG-compliant and non-compliant scenarios. The framework recasts the trajectory-planning problem into an optimal control problem and employs virtual obstacles and spatial–temporal navigation corridors consistent with collision-free decisions as constraints for trajectory optimization, improving navigation efficiency and comfort. The framework is validated through various encounter scenarios, and the results demonstrate that the proposed framework can produce superior collision avoidance decisions, while planning shorter navigation time and smoother collision-free trajectories, significantly improving the collision avoidance capability of maritime autonomous surface ships.

Item ID:	85273
Item Type:	Article (Research - C1)
ISSN:	1873-5258
Copyright Information:	© 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Date Deposited:	06 May 2025 03:22
FoR Codes:	40 ENGINEERING > 4015 Maritime engineering > 401501 Marine engineering @ 100%
SEO Codes:	28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 100%
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