Open AccessParallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours
Author(s) -
Dimitrios Papageorgiou,
Mogens Blanke,
Marie Lützen,
Mette Bennedsen,
John Mogensen,
Søren Hansen
Publication year - 2019
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2019.12.291
Subject(s) - automaton , representation (politics) , event (particle physics) , computer science , bridge (graph theory) , interpretation (philosophy) , theoretical computer science , artificial intelligence , human–computer interaction , programming language , medicine , physics , quantum mechanics , politics , political science , law
With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessment from decision making. A intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.