Target trailing with safe navigation with colregs for maritime autonomous surface vehicles

US8849483B2 · kind B2 · utility

Assignee

• CALIFORNIA INSTITUTE OF TECHNOLOGY · US

Inventors

• Yoshiaki Kuwata · Los Angeles, US
• Michael T. Wolf · Los Angeles, US
• Dimitri V. Zarzhitsky · La Cañada Flintridge, US
• Hrand Aghazarian · La Cañada Flintridge, US
• Terrance L. Huntsberger · Altadena, US
• Andrew B. Howard · Los Angeles, US

Key dates

• Filing date: Apr 13, 2012
• Grant date: Sep 30, 2014
• Expiry date: Apr 13, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/02
• WIPO field: Control
• WIPO sector: Instruments

Abstract

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.