A dynamic programming approach to the collision avoidance of autonomous ships

HIGHLIGHTS

• What: The authors compare the proposed algorithms with the RRT* in randomly generated scenarios using performance metrics proposed in the literature. For this study, the authors suppose that, to determine the COLREG-compliant behavior β i, the own ship must keep relative to the ith dynamic obstacle in the scenario, and that β i ∈ CB, where CB is the enumeration of all the possible behaviors: CB={SO, GW, HO, AA} The authors propose a cost function inspired by the concept of minimum control energy. By leveraging a graph structure, the authors can implement the approach described in Algorithms 1 . . .
  

   

  

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