The branching‐course model predictive control algorithm for maritime collision avoidance

• Published in: Journal of field robotics Vol. 36; no. 7; pp. 1222 - 1249
• Main Authors: Eriksen, Bjørn‐Olav H., Breivik, Morten, Wilthil, Erik F., Flåten, Andreas L., Brekke, Edmund F.
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.10.2019
• Subjects: Algorithms; Collision avoidance; Computer simulation; control; Control algorithms; Control theory; Maneuvers; marine robotics; Obstacle avoidance; planning; Predictive control; Regulations; Sensors; Tracking; Transponders

This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise on obstacle estimates, which is a significant source of disturbance when usin...