Hybrid Approach to Estimate a Collision-Free Velocity for Autonomous Surface Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2019

Authors

Silva, R (Author) Other; Leite, P (Author) Other; Campos, D (Author) Other; Pinto, AM (Author) FEUP

Conference proceedings International

Title: 2019 19TH IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC 2019)

Pages: 194-199

19th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Gondomar, PORTUGAL, APR 24-26, 2019

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 5 Citations

Other information

Authenticus ID: P-00Q-TAK

DOI: 10.1109/icarsc.2019.8733643

Abstract (EN): Shipping transportation mode needs to be even more efficient, profitable and secure as more than 80% of the world's trade is done by sea. Autonomous ships will provide the possibility to eliminate the likelihood of human error, reduce unnecessary crew costs and increase the efficiency of the cargo spaces. Although a significant work is being made, and new algorithms are arising, they are still a mirage and still have some problems regarding safety, autonomy and reliability. This paper proposes an online obstacle avoidance algorithm for Autonomous Surfaces Vehicles (ASVs) introducing the reachability with the protective zone concepts. This method estimates a collision-free velocity based on inner and outer constraints such as, current velocity, direction, maximum speed and turning radius of the vehicle, position and dimensions of the surround obstacles as well as a movement prediction in a close future. A non-restrictive estimative for the speed and direction of the ASV is calculated by mapping a conflict zone, determined by the course of the vehicle and the distance to obstacles that is used to avoid imminent dangerous situations. A set of simulations demonstrates the ability of this method to safely circumvent obstacles in several scenarios with different weather conditions.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6