Motion Planning of USV Based on Marine Rules

In order to achieve a high level of autonomy in a highly dynamic and unpredictable world, obstacle avoidance is required to ensure the safety of other vessels, people, and property. Discussed here is the integration of the Coast Guard International Regulations for Avoiding Collision as Sea (COLREGS), or the “Marine Rules of the Road”, with an autonomous motion planning method based on the relative coordinate. The simulation results provide obstacle avoidance capability, that complies with COLREGS, to an Unmanned Surface Vehicle (USV).