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A Dynamic Programming Approach to the Collision Avoidance of Autonomous Ships

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  • Raphael Zaccone

    (Dipartimento di Ingegneria Navale, Elettrica, Elettronica e delle Telecompunicazioni (DITEN), Scuola Politecnica, Università degli Studi di Genova, Via Montallegro 1, 16145 Genova, Italy)

Abstract

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, dynamic programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for the collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. We put the proposed algorithms to the test in realistic navigation scenarios and also develop an extensive test on a large set of randomly generated scenarios, comparing them with the RRT* algorithm using performance metrics proposed in the literature. The results show the potential benefits of an autonomous navigation or decision support framework.

Suggested Citation

  • Raphael Zaccone, 2024. "A Dynamic Programming Approach to the Collision Avoidance of Autonomous Ships," Mathematics, MDPI, vol. 12(10), pages 1-22, May.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:10:p:1546-:d:1395318
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    References listed on IDEAS

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    1. Richard Bellman, 1954. "Some Applications of the Theory of Dynamic Programming---A Review," Operations Research, INFORMS, vol. 2(3), pages 275-288, August.
    2. Richard Bellman, 1954. "On some applications of the theory of dynamic programming to logistics," Naval Research Logistics Quarterly, John Wiley & Sons, vol. 1(2), pages 141-153, June.
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