Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised the interest in developing methods for path planning that can reduce the risk of collisions, groundings, and stranding accidents at sea, as well as costs and time expenditure. In this paper, we review guidance, and more specifically, path planning algorithms of autonomous surface vehicles and their classification. In particular, we highlight vessel autonomy, regulatory framework, guidance, navigation and control components, advances in the industry, and previous reviews in the field. In addition, we analyse the terminology used in the literature and attempt to clarify ambiguities in commonly used terms related to path planning. Finally, we summarise and discuss our findings and highlight the potential need for new regulations for autonomous surface vehicles.
Artificial intelligence is an enabling technology for autonomous surface vehicles, with methods such as evolutionary algorithms, artificial potential fields, fast marching methods, and many others becoming increasingly popular for solving problems such as path planning and collision avoidance. However, there currently is no unified way to evaluate the performance of different algorithms, for example with regard to safety or risk. This paper is a step in that direction and offers a comparative study of current state-of-the art path planning and collision avoidance algorithms for autonomous surface vehicles. Across 45 selected papers, we compare important performance properties of the proposed algorithms related to the vessel and the environment it is operating in. We also analyse how safety is incorporated, and what components constitute the objective function in these algorithms. Finally, we focus on comparing advantages and limitations of the 45 analysed papers. A key finding is the need for a unified platform for evaluating and comparing the performance of algorithms under a large set of possible real-world scenarios.
For many years, NTNU in Ålesund (formerly Aalesund University College) has maintained a close relationship with the maritime industrial cluster, centred in the surrounding geographical region, thus acting as a hub for both education, research, and innovation. Of many common relevant research topics, virtual prototyping is currently one of the most important. In this paper, we describe our first complete version of a generic and modular software framework for intelligent computer-automated product design. We present our framework in the context of design of offshore cranes, with easy extensions to other products, be it maritime or not. Funded by the Research Council of Norway and its Programme for Regional R&D and Innovation (VRI), the work we present has been part of two separate but related research projects (grant nos. 241238 and 249171) in close cooperation with two local maritime industrial partners.We have implemented several software modules that together constitute the framework, of which the most important are a server-side crane prototyping tool (CPT), a client-side web graphical user interface (GUI), and a client-side artificial intelligence for product optimisation (AIPO) module that uses a genetic algorithm (GA) library for optimising design parameters to achieve a crane design with desired performance. Communication between clients and server is achieved by means of the HTTP and WebSocket protocols and JSON as the data format.To demonstrate the feasibility of the fully functioning complete system, we present a case study where our computer-automated design was able to improve the existing design of a real and delivered 50-tonnes, 2.9 million EUR knuckleboom crane with respect to some chosen desired design criteria.Our framework being generic and modular, both clientside and server-side modules can easily be extended or
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