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dc.contributor.advisorBenjamin, Michael R.
dc.contributor.advisorLeonard, John J.
dc.contributor.authorWoerner, Kyle
dc.date.accessioned2014-08-20T23:01:47Z
dc.date.available2014-08-20T23:01:47Z
dc.date.issued2014-06
dc.identifier.urihttp://hdl.handle.net/10945/43076
dc.descriptionCIVINS (Civilian Institutions) Thesis documenten_US
dc.description.abstractHigh 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.en_US
dc.description.urihttp://archive.org/details/colregscompliant1094543076
dc.language.isoen_US
dc.publisherMonterey California. Naval Postgraduate Schoolen_US
dc.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.en_US
dc.titleCOLREGS-Compliant Autonomous Collision Avoidance Using Multi-Objective Optimization with Interval Programmingen_US
dc.typeThesisen_US
dc.contributor.corporateMassachusetts Institute of Technology
dc.contributor.departmentMechanical Engineering
etd.thesisdegree.nameNaval Engineeren_US
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorMassachusetts Institute of Technologyen_US


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