Parallel Automaton Representation of Marine Crafts' COLREGs-based Manoeuvering Behaviours. Issue 21 (2019)

• Record Type: Journal Article
• Authors: Papageorgiou, Dimitrios; Blanke, Mogens; Lützen, Marie; Bennedsen, Mette; Mogensen, John; Hansen, Søren
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 21(2019)
• Page Start: 103
• Page End: 110
• Publication Date: 2019
• Subjects: Autonomous vessels -- situation assessment -- discrete-event systems -- finite-state automata -- COLREGs representation -- collision avoidance; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.291
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.