自主水运船舶的碰撞规避与搁浅预防：符合国际海上避碰规则
COLREGs Compliant Collision Avoidance and Grounding Prevention for Autonomous Marine Navigation
AI总结：
本文提出了一种基于凸优化的运动规划方法，用于自主水运船舶的碰撞规避、COLREGs合规性和搁浅预防。
摘要：
海上自主表面船（MASS）正日益被视为解决船员短缺、提高航行安全性和提高运营效率的有前途的解决方案。然而，MASS在现实环境中的可靠部署仍是一个重大挑战，尤其是在拥挤水域，大多数海上事故都发生在这里。这强调了需要安全且符合规则的运动规划策略，以在动态的海洋条件下运行。本文提出了一种统一的运动规划方法，使MASS能够实现实时碰撞规避、符合《国际海上避碰规则》（COLREGs）以及搁浅预防。所提出的工作介绍了一种凸优化方法，该方法整合了基于速度障碍（VO）的碰撞约束、基于COLREGs的方向约束以及基于水深的搁浅约束，以生成计算高效且符合规则的最优速度选择。为了增强鲁棒性，经典的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。通过使用整数线性规划（ILP）将从水深数据中获得的不可航行浅水区域近似为凸几何，从而将搁浅约束纳入运动规划。所得到的优化生成了最优且动态可行的输入速度，满足碰撞规避、法规合规、运动动力学限制和搁浅预防的要求。涉及多艘船舶的仿真结果证明了所提出方法在生成安全且符合规则的机动方面的有效性，突显了所提出方法在实时自主水运导航中的适用性。
英文摘要：
Maritime Autonomous Surface Ships (MASS) are increasingly regarded as a promising solution to address crew shortages, improve navigational safety, and improve operational efficiency in the maritime industry. Nevertheless, the reliable deployment of MASS in real-world environments remains a significant challenge, particularly in congested waters where the majority of maritime accidents occur. This emphasizes the need for safe and regulation-aware motion planning strategies for MASS that are capable of operating under dynamic maritime conditions. This paper presents a unified motion planning method for MASS that achieves real time collision avoidance, compliance with International Regulations for Preventing Collisions at Sea (COLREGs), and grounding prevention. The proposed work introduces a convex optimization method that integrates velocity obstacle-based (VO) collision constraints, COLREGs-based directional constraints, and bathymetry-based grounding constraints to generate computationally efficient, rule-compliant optimal velocity selection. To enhance robustness, the classical VO method is extended to consider uncertainty in the position and velocity estimates of the target vessel. Unnavigable shallow water regions obtained from bathymetric data, which are inherently nonconvex, are approximated via convex geometries using a integer linear programming (ILP), allowing grounding constraints to be incorporated into the motion planning. The 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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
