COLSim, a simulator for Hybrid Navigation Acceptability and Safety

Benoit Clement, Thomas Chaffre, Pouria Sarhadi, Marie Dubromel

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Abstract

Autonomous vessels have emerged as a prominent and accepted solution. However, achieving full autonomy for marine vessels requires the development of robust and reliable mission planning and control systems that can handle various encounters with manned and unmanned vessels while operating effectively in various weather and sea conditions. These algorithms need to account for various aspects of a mission like global/local planning, manoeuvrability limitations, external disturbances, Collision Avoidance (COLAV), motion regulations. A significant challenge in this pursuit is ensuring the autonomous vessels’ compliance with the International Regulations for Preventing Collisions at Sea (COLREGs). This paper proposes a (prototypical) realisation of an open-source simulator including replay of AIS Data. The aim of this simulator is to provide fast simulation feeded with real data and including autonomous agents.
Original languageEnglish
Pages (from-to)147-152
Number of pages6
JournalIFAC-PapersOnLine
Volume58
Issue number20
DOIs
Publication statusE-pub ahead of print - 30 Oct 2024
Event15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024) - Blacksburg, United States
Duration: 3 Sept 20246 Sept 2024
https://tc.ifac-control.org/7/2/events/15th-ifac-conference-on-control-applications-in-marine-systems-robotics-and-vehicles

Keywords

  • COLREGs
  • Simulation
  • Situation Awareness
  • DRL
  • Human Factors

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