Motion planning for autonomous ferries
Background & motivation
- Robust and efficient algorithms for motion planning and collision avoidance are key to enable autonomous ferries.
- Currently, relatively robust solutions are available for low-complexity operation domains such as short canal crossings. This was e.g. demonstrated by a 3-hour continuous operation of milliAmpere in December 2020.
- Moving to more complex operational domains including e.g. long transits and complex traffic situations, further research on motion planning and collision avoidance is required.
- Important keywords are the “rules of the road” (COLREGs), traffic interactions and online risk management.
- Perform a literature survey on relevant algorithms for motion planning and collision avoidance, and get familiar with the existing motion planning and collision avoidance system on milliAmpere.
- Evaluate the performance of different algorithms when faced with operational domains of increasing complexity.
- This will largely be done in simulations, but full-scale experiments are also desirable.
Figure 1: Illustration of the motion planning algorithm on milliAmpere.