Behavior: BHV_AvdColregs

Brief Synopsis:

A behavior for avoiding collision based on CPA and COLREGS considerations.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

The AvdColregs behavior will produce IvP objective functions designed to avoid collisions (and near collisions) with another specified vehicle, based on the protocol found in the US Coast Guard Collision Regulations (COLREGS). The IvP functions produced by this behavior are defined over the domain of posssible heading and speed choices. The utility assigned to a point in this domain (a heading-speed pair) depends in part on the calculated closest point of approach (CPA) between the candidate maneuver leg, and the contact leg formed from the contact's position and trajectory. A further user-defined utility function is applied to the CPA calculation for a candidate maneuver.