The branching‐course model predictive control algorithm for maritime collision avoidance

This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise on obstacle estimates, which is a significant source of disturbance when usin...

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Bibliographic Details

Published in:	Journal of field robotics Vol. 36; no. 7; pp. 1222 - 1249
Main Authors:	Eriksen, Bjørn‐Olav H., Breivik, Morten, Wilthil, Erik F., Flåten, Andreas L., Brekke, Edmund F.
Format:	Journal Article
Language:	English
Published:	Hoboken Wiley Subscription Services, Inc 01.10.2019
Subjects:	Algorithms Collision avoidance Computer simulation control Control algorithms Control theory Maneuvers marine robotics Obstacle avoidance planning Predictive control Regulations Sensors Tracking Transponders
ISSN:	1556-4959, 1556-4967
Online Access:	Get full text
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