In this work, a trade space was introduced allowing a weighted combination of a course change and speed change when deviating from the preferred velocity vector in protocol-constrained autonomous collision avoidance algorithms. A novel iterative geometry testing technique was introduced and key evaluation metrics were studied including the introduction of a protocol-compliance metric for collision avoidance scenarios. The performance metric results differed for high-speed vessels indicating a need for parameter tuning specific to high-speed vessels before applying collision avoidance algorithms tested on slower vessels.

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