| Title: | A collision avoidance algorithm with intention prediction for inland waterways ships | |
| Authors: | H. Ahn Tran, T.A. Johansen, R.R. Negenborn |
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| Conference: | 22nd IFAC World Congress (IFAC WC'23) |
| Address: | Yokohama, Japan |
| Date: | July 2023 |
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| Abstract: | Collision avoidance is one of the most challenging problems in developing a Maritime Autonomous Surface Ship. This paper proposes a new collision avoidance algorithm for inland waterway ships. The algorithm addresses the problem of avoiding collisions with dynamic obstacles by applying a situation-based intention prediction for neighboring ships. This prediction algorithm allows own ship to be aware of future collision threats caused by the course changing of nearby ships. The prediction scheme is integrated into a scenario-based model predictive control scheme that has been modified for application in inland waterway traffic. The proposed algorithm can deal with complex traffic situations that a ship can encounter in inland waterway traffic. The performance of the proposed algorithm is evaluated in several experiment simulations. |
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| Reference: | A collision avoidance algorithm with intention prediction for inland waterways ships. H. Ahn Tran, T.A. Johansen, R.R. Negenborn. Accepted for the 22nd IFAC World Congress (IFAC WC'23), Yokohama, Japan, July 2023. |
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