Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals

J.M. de Vries, E. Trevisan, J. van der Toorn, T. Das, B.F. Ferreira de Brito, J. Alonso Mora

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)
7 Downloads (Pure)


In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Robotics and Automation (ICRA 2022)
EditorsGeorge J. Pappas, Vijay Kumar
ISBN (Electronic)978-1-7281-9681-7
ISBN (Print)978-1-7281-9680-0
Publication statusPublished - 2022
Event2022 International Conference on Robotics and Automation (ICRA) - Philadelphia, United States
Duration: 23 May 202227 May 2022
Conference number: 39


Conference2022 International Conference on Robotics and Automation (ICRA)
Abbreviated titleICRA 2022
Country/TerritoryUnited States

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Sea surface
  • Irrigation
  • Automation
  • Dynamics
  • Predictive models
  • Cost function
  • Regulation


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