Collision Avoidance for Vessels Using a Low-Cost Radar Sensor

Abstract Collision avoidance for vessels highly depends on a robust obstacle detection. This is commonly achieved by use of high precision radar sensing. For smaller vessels however, the use of low-cost sensors is typical. The idea of this work is to improve the robustness of collision avoidance by integrating a sensor model together with the collision avoidance algorithm in order to consider the accuracy of the measurements. Furthermore, a target tracking algorithm based on an interacting Multi-Model Filter (IMM) is used for robust obstacle detection.

[1]  D. J. Salmond,et al.  Track maintenance using measurements of target extent , 2003 .

[2]  John J. Leonard,et al.  Navigation of unmanned marine vehicles in accordance with the rules of the road , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[3]  Michael Blaich,et al.  Mapping of Inland Waters Using Radar , 2012, AMS.

[4]  Jeffrey K. Uhlmann,et al.  Unscented filtering and nonlinear estimation , 2004, Proceedings of the IEEE.

[5]  Robin J. Evans,et al.  Fundamentals of Object Tracking , 2011 .

[6]  X. R. Li,et al.  Survey of maneuvering target tracking. Part I. Dynamic models , 2003 .

[7]  Oliver Bittel,et al.  Extended Grid Based Collision Avoidance Considering COLREGs for Vessels , 2012 .

[8]  Michael T. Wolf,et al.  Safe Maritime Autonomous Navigation With COLREGS, Using Velocity Obstacles , 2014, IEEE Journal of Oceanic Engineering.

[9]  Elisabeth M. Goodwin,et al.  A Statistical Study of Ship Domains , 1973, Journal of Navigation.

[10]  C. Tam,et al.  Review of Collision Avoidance and Path Planning Methods for Ships in Close Range Encounters , 2009, Journal of Navigation.

[11]  T. Kirubarajan,et al.  Probabilistic data association techniques for target tracking with applications to sonar, radar and EO sensors , 2005, IEEE Aerospace and Electronic Systems Magazine.

[12]  L. J.,et al.  Multisensor Surveillance for Improved Aircraft Tracking , 2007 .

[13]  Jeffrey K. Uhlmann,et al.  An Introduction to the Combinatorics of Optimal and Approximate Data Association , 2001 .

[14]  Klaus D. McDonald-Maier,et al.  Autonomous Ship Collision Avoidance Navigation Concepts, Technologies and Techniques , 2007, Journal of Navigation.

[15]  Rafael C. González,et al.  Digital image processing, 3rd Edition , 2008 .

[16]  Oliver Bittel,et al.  Fast grid based collision avoidance for vessels using A∗ search algorithm , 2012, 2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR).

[17]  Wilhelm Burger,et al.  Digital Image Processing - An Algorithmic Introduction using Java , 2008, Texts in Computer Science.

[18]  R. Szlapczynski.  A new method of ship routing on raster grids, with turn penalties and collision avoidance , 2005 .

[19]  Rafal Szlapczynski,et al.  On evolutionary computing in multi-ship trajectory planning , 2011, Applied Intelligence.

[20]  Roman Smierzchalski.  Evolutionary trajectory planning of ships in navigation traffic areas , 1999 .