Advanced COLREGS

The core MOOS-IvP distribution includes several libraries supporting a Helm behavior for collision avoidance based on the Coast Guard Collision Regulations (COLREGS). This code was part of the 2017 release and field tested on several USV platforms in several countries. The 2019 release included slight improvements over the 2017 release. The Advanced COLREGS project further improves the robustness and efficiency of the existing publicly released COLREGS behavior, and to develop an automated testing environment for stress testing the behavior with multiple simultaneous contacts, static and moving obstacles, uncooperative contacts and other mitigating mission factors. It also augments to the underlying math libraries to consider varying turn characteristics and vessel shapes. The new behavior also allows for re-structuring of COLREGS rules to account for collaborating vessel teams that may, for example, always enable the Rule 14 Head-on rule, but may wish to suspend the Rule 17 Stand-on rule when travelling in a stable formation.

Status:	Ongoing since August 2019
People:	Mike Benjamin (PI)
Robots:	https://oceanai.mit.edu/pavlab/robots/herons
	https://oceanai.mit.edu/pavlab/robots/philos
Related Projects:	Sea Train, Swarm Autonomy Toolbox, MTASC, MOOS-IvP

Related Publications

Document Maintained by: mikerb@mit.edu
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