文章基本信息

标题：Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours
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作者：Dimitrios Papageorgiou ; Mogens Blanke ; Marie Lützen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：103-110
DOI：10.1016/j.ifacol.2019.12.291
语种：English
出版社：Elsevier
摘要：With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessment from decision making. A intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.
关键词：KeywordsAutonomous vesselssituation assessmentdiscrete-event systemsfinite-state automataCOLREGs representationcollision avoidance