An Adaptive Route Plan Technique with Risk Contour for Autonomous Navigation of Surface Vehicles

Abstract

This study develops a new technique for an adaptive route plan that realizes autonomous navigation by surface vehicles at sea by utilizing real-time data. Prior to the application of the methodology, our technique assesses and visualizes maritime traffic risk as the foundation for the route planning of an Autonomous Surface Vehicles (ASVs). Based on the risk contour map and the ASV's data processing, the algorithm that proposes routes which match the desired objects according to the operator's input, was developed. This methodology was applied and evaluated for verification by planning adaptive routes and analyzing maritime traffic accidents as case studies. The results demonstrate that the technique is useful as it enables an ASV to quantitatively and automatically adapt its route to fit the real-time situation, and for applications to be further broadened to diverse areas. ？ 2018 IEEE.