文章基本信息

标题：A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters
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作者：Emil H. Thyri ; Morten Breivik ; Anastasios M. Lekkas 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14628-14635
DOI：10.1016/j.ifacol.2020.12.1472
语种：English
出版社：Elsevier
摘要：AbstractA deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that are collision-free with respect to static obstacles. Hence, the collision avoidance problem is reduced to a velocity planning problem, which is solved by first transforming all dynamic obstacles to a path-time space and subsequently constructing a conditioned visibility graph and traversing it with Dijkstra’s algorithm. The performance of this approach is demonstrated through both simulations and full-scale experiments in Trondheim harbor, using the NTNU milliAmpere ferry platform and virtual dynamic obstacles.
关键词：KeywordsAutonomous surface vehiclecollision avoidancepath-velocity decomposition