Collision Avoidance for ASVs in Archipelagos—A COLREGs-Aware Optimization-Based Method

With increased autonomy in marine vessels, autonomous surface vessels (ASVs) and conventionally manned vessels need to coexist at sea. Any relocation needs to include collision avoidance according to the traffic rules at sea, COLREGs. Here, a local collision-avoidance planner for an archipelago environment is presented. The optimization-based local planner presented considers a predefined nominal path and upon detection of other vessels, a COLREGs-aware maneuver is computed. The maneuver adapts to the available space and includes a return to the nominal plan. The irregular available space for maneuvers is approximated with a local convex area. The planner was evaluated both in simulations and in field experiments.