Safe Maritime Autonomous Navigation With COLREGS, Using Velocity Obstacles

By Yoshiaki Kuwata, Michael T. Wolf, D. Zarzhitsky, T. Huntsberger. IEEE Journal of Oceanic Engineering, 2014

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Path Planning for Autonomous Mobile Robots: A Review (2021, methodology): “Velocity Obstacles methods calculate a safe trajectory considering the velocity vectors of both the robotic agent and any other moving obstacle [89,90].”
COLREGS-Constrained Real-time Path Planning for Autonomous Ships Using Modified Artificial Potential Fields (2018, methodology): “…in recent years, such as Artiﬁcial Potential Fields (APF) (Lee et al., 2004; Xue et al., 2011; Lyu and Yin, 2017), a Velocity Obstacle (VO) (Kuwata et al., 2014), a Trajectory-Based Algorithm (TBA) (Lazarowska, 2017), the Ant Colony Optimisation (ACO) method (Lazarowska, 2015),…”
Ship Collision Avoidance and COLREGS Compliance Using Simulation-Based Control Behavior Selection With Predictive Hazard Assessment (2016, background): “The nominal scenario (guidance along the nominal path with no course offset and at nominal speed) is accepted if the hazard is sufficiently low.”
A constrained A* approach towards optimal path planning for an unmanned surface vehicle in a maritime environment containing dynamic obstacles and ocean currents (2018, background): “Recently, several eﬀorts have been made to integrate COLREGs in path planning algorithms for USVs (Svec et al., 2013, Kuwata et al., 2014).”