2025/04/27 by Chan‐Gyu Lee, Lee, Changyu, Jinwook Park +3
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Maritime Navigation and Safety #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #Underwater Vehicles and Communication Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2504.19247
openalex publication_date 2025/04/27 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional CBFs often lack explicit consideration of turning capabilities and avoidance direction, which are key elements in developing a COLREGs-compliant collision avoidance algorithm. To overcome these limitations, we introduce two CBFs derived from left and right turning circles. These functions establish safety conditions based on the proximity between the traffic ships and the centers of the turning circles, effectively determining both avoidance directions and turning capabilities. The proposed method formulates a quadratic programming problem with the CBFs as constraints, ensuring safe navigation without relying on computationally intensive trajectory optimization. This approach significantly reduces computational effort while maintaining performance comparable to model predictive control-based methods. Simulation results validate the effectiveness of the proposed algorithm in enabling COLREGs-compliant, safe navigation, demonstrating its potential for reliable and efficient operation in complex maritime environments.