Method for Path Planning for Marine Vessels in Limited Spaces
AssigneeABB Schweiz AG
InventorsHamid Feyzmahdavian, Jonas Linder, Kalevi Tervo
Life of this patent
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Abstract
A method for generating a path in a channel for automated control of a marine vessel includes acquiring position data for the marine vessel, determining, based on the position data, that the marine vessel is approaching or is in a channel, identifying, from geographical map data, a starboard side portion of the channel relative to the position of the marine vessel, determining a collision free path in the starboard side portion of the channel while travelling in the channel, and providing an output of the determined collision free path for automated control of the vessel along the determined collision free path.
Claims13
A computer implemented method for generating a path in a channel for automated control of a marine vessel, the method comprising:
- acquiring position data for the marine vessel;
- determining, based on the position data, that the marine vessel is approaching a channel or that the marine vessel is in a channel;
- determining, from geographical map data, that a width of the channel is below a predetermined threshold, and in response to the channel width being below the predetermined threshold:
- identifying, from the geographical map data, a starboard side portion of the channel relative to the position of the marine vessel,
- determining a collision free path in the starboard side portion of the channel while travelling in the channel, and
- providing an output of the determined collision free path for automated control of the vessel along the determined collision free path.
A control unit for a vessel, the control unit configured to execute a computer implemented method for generating a path in a channel for automated control of a marine vessel, the method comprising:
- acquiring position data for the marine vessel;
- determining, based on the position data, that the marine vessel is approaching a channel or that the marine vessel is in a channel;
- determining, from geographical map data, that a width of the channel is below a predetermined threshold, and in response to the channel width being below the predetermined threshold:
- identifying, from the geographical map data, a starboard side portion of the channel relative to the position of the marine vessel,
- determining a collision free path in the starboard side portion of the channel while travelling in the channel, and
- providing an output of the determined collision free path for automated control of the vessel along the determined collision free path.
A computer program product comprising instructions that, when executed by a computer, cause a method to be carried out, the method being configured for generating a path in a channel for automated control of a marine vessel, the computer program comprising:
- instructions for acquiring position data for the marine vessel;
- instructions for determining, based on the position data, that the marine vessel is approaching a channel or that the marine vessel is in a channel;
- instructions for determining, from geographical map data, that a width of the channel is below a predetermined threshold, and in response to the channel width being below the predetermined threshold:
- instructions for identifying, from the geographical map data, a starboard side portion of the channel relative to the position of the marine vessel,
- instructions for determining a collision free path in the starboard side portion of the channel while travelling in the channel, and
- instructions for providing an output of the determined collision free path for automated control of the vessel along the determined collision free path.
Dependencies are inferred from the claim text.