论文标题
法规意识到城市运河中自动表面船只的运动计划
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
论文作者
论文摘要
在非结构化的城市运河中，与其他船只的相互作用对于避免碰撞和社会合规性至关重要。在本文中，我们提出了一项法规，了解自动表面船只（ASV）的运动计划框架，该框架涉及动态和静态障碍。我们的方法建立在本地模型预测性轮廓控制（LMPCC）的基础上，以生成运动计划，以实时满足基诺动态和碰撞约束，同时包括法规意识。为了将法规纳入计划阶段，我们提出了一种成本功能，鼓励遵守描述与其他类似于海上碰撞法规（COLREGS）相似的船只相互作用的规则。这些法规对于在其他船只方面以可预测且具有社会状态的方式行事至关重要。我们将框架与基线方法进行比较，并显示出更有效的法规符合性避免使用运动计划者移动障碍物。此外，我们在室外环境中提出了实验结果
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliance avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment
