Formal Collision Avoidance Analysis for Rigorous Building of Autonomous Marine Vehicles
The prosperity of autonomous vehicles puts forward the even higher and stricter requirement for safe navigation. Collision avoidance is an essential ingredient to ensure safety for these vehicles. Instead of designing an optimization algorithm to avoid collision, we investigate the fundamental rules of collision avoidance for autonomous marine vessels. In the investigation, to analyze the completeness and consistency of the rules, we enumerate all the encountering scenarios and present the through analysis from various perspectives. To check the effectiveness of the rules, we also construct a formal model for autonomous vessels in navigation. Primary experimental results have demonstrated that applying current rules is not sufficient to avoid collision. More precise standards or facilitated strategies are necessary to guarantee safety for the navigation of autonomous marine vessels.
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