Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Dimitrios Papageorgiou, Mogens Blanke, Marie Lützen*, Mette Bennedsen, John Mogensen, Søren Hansen

*Kontaktforfatter for dette arbejde

Publikation: Bidrag til tidsskriftKonferenceartikelForskningpeer review

34 Downloads (Pure)

Abstrakt

With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessment from decision making. A intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.
OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Vol/bind52
Udgave nummer21
Sider (fra-til)103-110
ISSN2405-8963
DOI
StatusUdgivet - 2019
Begivenhed12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019 - Daejeon
Varighed: 18. sep. 201920. sep. 2019
Konferencens nummer: 12

Konference

Konference12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019
Nummer12
ByDaejeon
Periode18/09/201920/09/2019

    Fingerprint

Citationsformater