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A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control
2021
Sensors
Real-time collision-avoidance navigation of autonomous ships is required by many application scenarios, such as carriage of goods by sea, search, and rescue. The collision avoidance algorithm is the core of autonomous navigation for Maritime autonomous surface ships (MASS). In order to realize real-time and free-collision under the condition of multi-ship encounter in an uncertain environment, a real-time collision avoidance framework is proposed using B-spline and optimal decoupling control.
doi:10.3390/s21144911
fatcat:t2citferu5dl7evrnz5qupf3eq