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The development of autonomous surface vehicles (ASVs) is of great interest for a wide range of applications. A critical component of successful ASVs is obstacle avoidance with proper application of the Coast Guard Collision Regulations (COLREGS). Presented here is a new method for real-time, COLREGS compliant, global path planning for ASVs. Full routes to a goal point are found by an A* search over a time-dependent visibility graph that includes dynamic obstacles in a COLREGS compliant manner. The path planner is tested in simulation and in physical experiments on the water using the WHOI Jetyak. A marine radar is used for obstacle detection allowing for long range detection of obstacles in a variety of weather conditions. Real-time global path planning allows for predictive and reactive avoidance of multiple dynamic and static obstacles making it well suited for both open sea and complex near shore environments.