000010683 001__ 10683
000010683 005__ 20240531171551.0
000010683 0247_ $$2doi$$a10.24868/10683
000010683 245__ $$aReal-time Collision Avoidance Algorithm for Inland Waterway Sailing Scenarios - Experiment Validation
000010683 269__ $$a2022-08-01
000010683 336__ $$aConference Proceedings
000010683 520__ $$aA 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.
000010683 542__ $$fCC-BY-NC-ND
000010683 6531_ $$aAutonomous Surface Vehicles
000010683 6531_ $$aCollision Avoidance
000010683 6531_ $$aPath Planning
000010683 6531_ $$aHybrid A*
000010683 7001_ $$aMiao, T$$uRH Marine / KU Leuven
000010683 7001_ $$aEl Amam, E$$uRH Marine Netherlands BV
000010683 7001_ $$ade Kruif, B$$uMARIN
000010683 7001_ $$aSlaets, P$$uKatholieke Universiteit Leuven
000010683 7001_ $$aPissoort, D$$uKatholieke Universiteit Leuven
000010683 773__ $$tConference Proceedings of INEC
000010683 773__ $$jINEC 2022
000010683 85641 $$uhttps://www.imarest.org/events/category/categories/imarest-event/international-naval-engineering-conference-and-exhibition-2022$$yConference website
000010683 8564_ $$912256639-b840-43aa-a19b-c189308a6476$$s2495611$$uhttps://library.imarest.org/record/10683/files/INEC_2022_paper_28.pdf
000010683 980__ $$aConference Proceedings