A set of alternative collision avoidance control behaviors are parameterized by two parameters: Offsets to the guidance course angle commanded to the autopilot, and changes to the propulsion command ranging from nominal speed to full reverse. Using predictions of the trajectories of the obstacles and ship, the compliance with the COLREGS rules and collision hazards associated with the alternative control behaviors are evaluated on a finite prediction horizon. The optimal control behavior is computed in a model predictive control implementation strategy. Uncertainty can be accounted for by increasing safety margins or evaluating multiple scenarios for each control behavior. Simulations illustrate the effectiveness in test cases involving multiple dynamic obstacles and uncertainty associated with sensors and predictions.

Ship Collision Avoidance Using Scenario-Based Model Predictive Control / Johansen Tor, A.; Cristofaro, Andrea; Perez, Tristan. - 49:3(2016), pp. 14-21. (Intervento presentato al convegno 10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016 tenutosi a Trondheim; Norway) [10.1016/j.ifacol.2016.10.315].

Ship Collision Avoidance Using Scenario-Based Model Predictive Control

Cristofaro Andrea
;
2016

Abstract

A set of alternative collision avoidance control behaviors are parameterized by two parameters: Offsets to the guidance course angle commanded to the autopilot, and changes to the propulsion command ranging from nominal speed to full reverse. Using predictions of the trajectories of the obstacles and ship, the compliance with the COLREGS rules and collision hazards associated with the alternative control behaviors are evaluated on a finite prediction horizon. The optimal control behavior is computed in a model predictive control implementation strategy. Uncertainty can be accounted for by increasing safety margins or evaluating multiple scenarios for each control behavior. Simulations illustrate the effectiveness in test cases involving multiple dynamic obstacles and uncertainty associated with sensors and predictions.
2016
10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016
Autonomous Ships; Collision Avoidance; Hazard; Safety; Trajectory optimization
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Ship Collision Avoidance Using Scenario-Based Model Predictive Control / Johansen Tor, A.; Cristofaro, Andrea; Perez, Tristan. - 49:3(2016), pp. 14-21. (Intervento presentato al convegno 10th IFAC Conference on Control Applications in Marine SystemsCAMS 2016 tenutosi a Trondheim; Norway) [10.1016/j.ifacol.2016.10.315].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1329789
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