Spline Navigation and Reactive Collision Avoidance with COLREGs for ASVs

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Miguel Pinto (Autor) Outra; Bruno Ferreira (Autor) Outra; Heber Sobreira (Autor) Outra; Anibal Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Ata de Conferência Internacional

Título: 2013 OCEANS - SAN DIEGO

MTS/IEEE Oceans Conference

San Diego, CA, SEP 23-27, 2013

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 2 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia do ambiente

Outras Informações

ID Authenticus: P-009-D8Q

Abstract (EN): This paper describes the implementation of a navigation algorithm for Autonomous Surface Vehicles (ASVs), that is composed by two stages: 1) spline curve follower and; 2) reactive collision avoidance, obeying to the International Regulations for Preventing Collisions at Sea (COLREGs). The spline curve follower determines path's parametric functions that the vehicle should follow, taking into account : 1) the initial and goal points on the fixed world frame and; 2) the final desired orientation for the ASV. The reactive collision avoidance substitutes the splines navigation in situations of potential collision with moving obstacles. To do this, the algorithm considers the relative velocity between the controlled ASV and the moving obstacle (other ASV). It also takes into account the escape trajectory that the controlled ASV is capable to perform at each instant. The algorithm was implemented under the Robotic Operating System (ROS) framework. An intuitive spline curve configuration tool, using the RVIZ's package. The paper presents results of the simulation of two ASVs, following predefined spline trajectories, and the reactive collision avoidance routine in a rendezvous situation. A reference for a video illustrating the navigation algorithm is also provided.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 9