COLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programming
Benjamin, Michael R.
Leonard, John J.
MetadataShow full item record
High contact density environments are becoming ubiquitous in autonomous marine vehicle (AMV) operations. Safely managing these environments and their mission greatly taxes platforms. AMV collisions will likely increase as contact density increases. In situations where AMVs are not performing a collaborative mission but are using shared physical space such as multiple vehicles in the same harbor, a high demand exists for safe and efficient operation to minimize mission track deviations while preserving the safety and integrity of mission platforms. With no existing protocol for collision avoidance of AMVs, much effort to date has focused on individual ad hoc collision avoidance approaches that are self-serving, lack the uniformity of fleet-distributed protocols, and disregard the overall fleet efficiency when scaled to being in a contact-dense environment. This research shows that by applying interval programming and a collision avoidance protocol such as the International Regulations for Prevention of Collisions at Sea (COLREGS) to a fleet of AMVs operating in the same geographic area, the fleet achieves nearly identical efficiency concurrent with significant reductions in the collisions observed. A basic collision avoidance protocol was analyzed against a COLREGS-based algorithm while parameters key to collision avoidance were studied using Monte Carlo methods and regression analysis of both real-world and simulated statistical data. A testing metric was proposed for declaring AMVs as "COLREGS-compliant" for at-sea operations. This work tested five AMVs simultaneously with COLREGS collision avoidance-the largest test known to date.
CIVINS (Civilian Institutions) Thesis document
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
MacKinnon, Douglas; Sanchez, Paul; Sanchez, Susan; Lin, Tai-shan (Monterey, California: Naval Postgraduate School, 2018-04); NPS-18-N014-AProject Summary: The purpose of the Navy Supply Corps is to manage the logistical pipeline, so resources are delivered to the warfighter as required. Naval units are easily able to replenish their stores while they are in ...
Campbell, Michael Scott (Monterey, California. Naval Postgraduate School, 1996-03);The Naval Postgraduate School autonomous underwater vehicle (AUV) phoenix did not have any sonar classification capabilities and only a basic collision avoidance system. The Phoenix also did not have the capability of ...
NPSNET: an accurate low-cost technique for real-time display of transient events: vehicle collisions, explosions and terrain modifications Osborne, William Dale. (Monterey, California. Naval Postgraduate School, 1991-09);This work concentrates on a method for real-time collision detection and how to resolve that collision when it had occurred. The results of this effort are only a small part of the overall system, NPSNET. The collision ...