都市運河における自律航行船の法規を考慮した動作計画
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
都市運河で他の船舶との衝突回避と社会的規範を守るため、COLREGsに似た規則遵守を促すコスト関数を組み込んだモデル予測型動作計画手法を提案し、屋外実験で有効性を示した。
著者: Jitske de Vries, Elia Trevisan, Jules van der Toorn, Tuhin Das, Bruno Brito, Javier Alonso-Mora
分類: cs.RO
原文アブストラクト
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliance avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment
