论文标题
狭窄水域中的自主导航 - Colregs规则9合规框架
Autonomous Navigation in Confined Waters -- A COLREGs Rule 9 Compliant Framework
论文作者
论文摘要
许多行业参与者正在积极开发完全或部分自治的海船。在许多情况下，自动船将在岸边和遥控中心（RCC）范围内运行。接近海岸的行动要求自动船能够与其他自主或载人船只近距离航行，并可能在受限的水域中，同时以与海上任何其他船只的同等程度服从船柱。但是，在狭窄的水域中，某些COLREGS规则适用，这可能会根据船舶的可操作性改变预期的行动（放弃或替补）。本文介绍了符合Colregs规则9（狭窄的渠道）的自动导航的情况意识（SAS）框架。所提出的解决方案包括一种评估船只在受限水域中船只的可操作性的方法，用于评估Colregs规则9的适用性。然后将此功能集成到已经存在的SAS框架中，以促进在受限水中促进Colregs符合Colregs的导航。使用小型自动乘客渡轮的案例研究在模拟中证明了该方法的适用性。
Fully or partial autonomous marine vessels are actively being developed by many industry actors. In many cases, the autonomous vessels will be operating close to shore, and within range of a Remote Control Center (RCC). Close to shore operation requires that the autonomous vessel is able to navigate in close proximity to other autonomous or manned vessels, and possibly in confined waters, while obeying the COLREGs on equal terms as any other vessel at sea. In confined waters however, certain COLREGs rules apply, which might alter the expected actions (give-way or stand-on), depending on the manoeuvrability of the vessels. This paper presents a Situation Awareness (SAS) framework for autonomous navigation that complies with COLREGs rule 9 (Narrow Channels). The proposed solution comprises a method for evaluating the manoeuvrability of a vessel in confined waters, for assessing the applicability of COLREGs rule 9. This feature is then integrated into an already existing SAS framework for facilitating COLREGs-compliant navigation in restricted waters. The applicability of the proposed method is demonstrated in simulation using a case study of a small autonomous passenger ferry.
