@article{Experiment:10683,
      author = {Miao, T and El Amam, E and de Kruif, B and Slaets, P and  Pissoort, D},
      url = {http://library.imarest.org/record/10683},
      journal = {Conference Proceedings of INEC},
      title = {Real-time Collision Avoidance Algorithm for Inland  Waterway Sailing Scenarios - Experiment Validation},
      abstract = {A Collision Avoidance (CA) system with collision avoidance  algorithms is critical to Autonomous Surface Vehicles  (ASV). This paper explores a hybrid collision avoidance  method based on an improved hybrid A* algorithm for inland  waterway scenarios. This method uses discrete control  actions, such as heading and speed setpoints, as input and  generates a modified local path and control setpoints. A  pre-processing method, namely a collision velocity check,  is used to speed up the computation progress. Multiple  aspects, including safety, path length, sailing time, rule  compliance, and smoothness, are considered in finding the  optimal collision-free path. We implemented the method  under the Robot Operation System (ROS) architecture and  conducted real-ship experiments for validation. The results  show the effectiveness of this method.},
      doi = {https://doi.org/10.24868/10683},
      recid = {10683},
      address = {2022-08-01},
}