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This paper presents a three-layered hybrid collision avoidance (COLAV) systemfor autonomous surface vehicles, compliant with rules 8 and 13-17 of theInternational Regulations for Preventing Collisions at Sea (COLREGs). The COLAVsystem consists of a high-level planner producing an energy-optimizedtrajectory, a model predictive control based mid-level COLAV algorithmconsidering moving obstacles and the COLREGs, and the branching-course modelpredictive control algorithm for short-term COLAV handling emergency situationsin accordance with the COLREGs. Previously developed algorithms by the authorsare used for the high-level planner and short-term COLAV, while we in thispaper further develop the mid-level algorithm to make it comply with COLREGsrules 13-17. This includes developing a state machine for classifying obstaclevessels using a combination of the geometrical situation, the distance and timeto the closest point of approach (CPA) and a new CPA-like measure. Theperformance of the hybrid COLAV system is tested through numerical simulationsfor three scenarios representing a range of different challenges, includingmulti-obstacle situations with multiple simultaneously active COLREGs rules,and also obstacles ignoring the COLREGs. The COLAV system avoids collision inall the scenarios, and follows the energy-optimized trajectory when theobstacles do not interfere with it.

Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17