TY  - GEN
N2  - 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.
DO  - 10.24868/10683
DO  - doi
AB  - 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.
AD  - RH Marine / KU Leuven
AD  - RH Marine Netherlands BV
AD  - MARIN
AD  - Katholieke Universiteit Leuven
AD  - Katholieke Universiteit Leuven
T1  - Real-time Collision Avoidance Algorithm for Inland Waterway Sailing Scenarios - Experiment Validation
DA  - 2022-08-01
AU  - Miao, T
AU  - El Amam, E
AU  - de Kruif, B
AU  - Slaets, P
AU  - Pissoort, D
L1  - https://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
JF  - Conference Proceedings of INEC
VL  - INEC 2022
PY  - 2022-08-01
ID  - 10683
L4  - https://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
KW  - Autonomous Surface Vehicles
KW  - Collision Avoidance
KW  - Path Planning
KW  - Hybrid A*
TI  - Real-time Collision Avoidance Algorithm for Inland Waterway Sailing Scenarios - Experiment Validation
Y1  - 2022-08-01
L2  - https://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
LK  - https://www.imarest.org/events/category/categories/imarest-event/international-naval-engineering-conference-and-exhibition-2022
LK  - https://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
UR  - https://www.imarest.org/events/category/categories/imarest-event/international-naval-engineering-conference-and-exhibition-2022
UR  - https://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
ER  -