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

被引：7

作者：

Papageorgiou, Dimitrios ^{[1
]}

Blanke, Mogens ^{[1
]}

Lutzen, Marie ^{[2
]}

Bennedsen, Mette ^{[2
]}

Mogensen, John ^{[2
]}

Hansen, Soren ^{[1
]}

机构：

[1] Tech Univ Denmark, Dept Elect Engn, DK-2800 Lyngby, Denmark

[2] Svendborg Int Maritime Acad, DK-5700 Svendborg, Denmark

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

Autonomous vessels; situation assessment; discrete-event systems; finite-state automata; COLREGs representation; collision avoidance; COLLISIONS; DESIGN;

D O I：

10.1016/j.ifacol.2019.12.291

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：103 / 110

页数：8