Motion safety for vessels: An approach based on Inevitable Collision States
Michael Blaich, Simon Weber, Johannes Reuter, Axel Hahn
Abstract
The improvement of collision avoidance for vessels in close range encounter situations is an important topic for maritime traffic safety. Typical approaches generate evasive trajectories or optimise the trajectories of all involved vessels. The idea of this work is to validate these trajectories related to guaranteed motion safety, which means that it is not sufficient for a trajectory to be collision-free, but it must additionally ensure that an evasive manoeuvre is performable at any time. An approach using the distance and the evolution of the distance to the other vessels is proposed. The concept of Inevitable Collision States (ICS) is adopted to identify the states for which no evasive manoeuvre exist. Furthermore, it is implemented into a collision avoidance system for recreational crafts to demonstrate the performance.
BibTeX
@inproceedings{iros2015_motionsafetyforv,
title = {Motion safety for vessels: An approach based on Inevitable Collision States},
author = {Michael Blaich and Simon Weber and Johannes Reuter and Axel Hahn},
booktitle = {IROS 2015},
year = {2015}
}