Model Predictive Control-Based Collision Avoidance for Autonomous Surface Vehicles in Congested Inland Waters

<div>Graphic illustration is used to categorize encounters based on collision avoidance rules. The blue ship is own ASV; the red ship is an obstacle vessel.</div>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Model Predictive Control-Based Collision Avoidance for Autonomous Surface Vehicles in Congested Inland Waters 