A COLREG-compliant Local Path Planning for Unmanned Surface Vehicle

초록

This paper proposes a COLREG-compliant Artificial Potential Field (C-APF), a path planning method for Unmanned Surface Vehicles (USVs) that simultaneously ensures compliance with Convention on the International Regulations for Preventing Collisions at Sea (COLREG). The proposed method consists of COLREG-compliant local path planning using a Dynamic Potential Field mathematically modeled based on COLREG to generate collision avoidance paths in encounter scenarios such as Head-on and Crossing situations. The potential fields generated in the local planning stage are then integrated into a single unified potential field, enabling path planning that ensures collision avoidance safety. © 2025 IEEE.

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