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This paper presents VORRT-COLREGs, a hybrid technique that combines velocityobstacles (VO) and rapidly-exploring random trees (RRT) to generate safetrajectories for autonomous surface vessels (ASVs) while following nauticalrules of the road. RRT generates a set of way points and the velocity obstaclesmethod ensures safe travel between way points. We also ensure that the actionsof ASVs do not violate maritime collision guidelines. Earlier work has used RRTand VO separately to generate paths for ASVs. However, RRT does not handlehighly dynamic situations well and and VO seems most suitable as a local pathplanner. Combining both approaches, VORRT-COLREGs is a global path planner thatuses a joint forward simulation to ensure that generated paths remain valid andcollision free as the situation changes. Experiments were conducted indifferent types of collision scenarios and with different numbers of ASVs.Results show that VORRT-COLREGS generated collision regulations (COLREGs)complaint paths in open ocean scenarios. Furthermore, VORRT-COLREGSsuccessfully generated compliant paths within traffic separation schemes. Theseresults show the applicability of our technique for generating paths for ASVsin different collision scenarios. To the best of our knowledge, this is thefirst work that combines velocity obstacles and RRT to produce safe and COLREGscomplaint path for ASVs.

VORRT-COLREGs: A Hybrid Velocity Obstacles and RRT Based COLREGs-Compliant Path Planner for Autonomous Surface Vessels