COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts
Thomas Thuesen Enevoldsen Christopher Reinartz Roberto Galeazzi Thomas Thuesen Enevoldsen Christopher Reinartz Roberto Galeazzi
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path deviation is to be generated. The sampling strategy is integrated within the optimal rapidly-exploring...