COLREGS Based Path Planning and Bearing Only Obstacle Avoidance for Autonomous Unmanned Surface Vehicles
Fuat Beşer, Tülay Yıldırım · Procedia Computer Science · 2018
Obstacle avoidance for autonomous unmanned surface vehicles (USV) is a very critical issue and must be in accordance with international maritime rules such as Convention on the International Regulations for Preventing Collisions at Sea (COLREGS). Realtime obstacle avoidance for USV’s can be achieved with distance and bearing information obtained by lidar (light detection and ranging), radar (radio detection and ranging) etc. sensors. But if these sensors fail while USV’s are at sea, alternative strategies are needed to execute local obstacle avoidance for maintaining the safety of life and property at sea. In this paper, we present COLREGS based obstacle avoidance and path planning using Fast Marching Square algorithm for multiple USV’s and effectiveness of visual guidance aided bearing only navigation in case of distance measuring sensor failure.