Real Time Autonomous Maritime Navigation using Dynamic Visibility Graphs

Elias Xidias and Dimitris Zissis

Proceedings of the 2018 IEEE OES Autonomous Underwater Vehicle Symposium, 2018

Abstract

In recent years, there has been a growing interest in self-guided vessels, for a wide range of application domains such as scientific research, ocean resource exploration, transport and other. In this paper we explore one of the most critical components of autonomous vessels, intelligent transportation and motion planning, and propose an automatic collision avoidance methodology, applicable to both unmanned surface or underwater vessels operating on the sea surface, using Dynamic Visibility Graphs while respecting International Regulations for Preventing Collisions at Sea (known as COLREGS).The efficiency of the developed method is investigated and discussed through characteristic simulated experiments.

A prepublication draft of this paper is available on Zenodo

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 732310 and by Amazon through an Amazon Research Award.

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