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

Figure 6

Avoidance direction according to collision avoidance rules. The blue ship is the ASV; the red ship is an obstacle ship. (a) Head-on; (b) overtaking; (c) crossing from port; and (d) crossing from starboard.

(a)

(b)

(c)

(d)