面向自动 marine 导航的COLREGs合规碰撞规避与搁浅防御
摘要
海域自主表面舰船（MASS）被视为缓解船员短缺、提高航行安全性和改善运营效率的有前景的解决方案。然而，在拥挤水域（其中大多数海上事故发生）中可靠部署MASS仍是重大挑战，这凸显了需要能够在动态海洋条件下运作的安全且符合规章的运动规划策略。本文提出一种统一的MASS运动规划方法，实现实时碰撞规避、符合国际海上碰撞预防规则（COLREGs）的规定，并防止搁浅。该方法引入的凸优化方法将基于速度障碍的（VO）碰撞约束、COLREGs导向约束和基于水深的搁浅约束集成，以生成计算高效、符合规则的最优速度选择。为提升鲁棒性，经典VO方法被扩展以考虑目标船舶位置和速度估计的不确定性。 inherently nonconvex的浅水区域（不可导航区域）通过整数线性规划（ILP）近似为凸几何体，从而将搁浅约束纳入运动规划。 resulting optimization generates optimal and dynamically feasible input velocities that meet collision avoidance, regulatory compliance, kinodynamic limits, and grounding prevention requirements. Simulation results involving multi-vessel encounters demonstrate the effectiveness of the proposed method in producing safe and regulation-compliant maneuvers, highlighting the suitability of the proposed approach for real time autonomous maritime navigation. Simulation results involving multi-vessel encounters demonstrate the effectiveness of the proposed method in producing safe and regulation-compliant maneuvers, highlighting the suitability of the proposed approach for real time autonomous maritime navigation.
引用
@article{arxiv.2603.02484,
title = {COLREGs Compliant Collision Avoidance and Grounding Prevention for Autonomous Marine Navigation},
author = {Mayur S. Patil and Nataraj Sudharsan and Veneela Ammula and Jude Tomdio and Jin Wang and Michael Kei and Sivakumar Rathinam and Prabhakar R. Pagilla},
journal= {arXiv preprint arXiv:2603.02484},
year = {2026}
}