Designing an autonomous collision avoidance controller respecting COLREG

This paper aims to show how a ship controller is implemented within the MUNIN project complying with the rules for steering and sailing as per COLREG Part B. After a short introduction into the project and a review of current approaches with regards to collision avoidance at sea, this paper will introduce the current process of collision avoidance and COLREGs. Afterwards, the different functionalities and solution methods of the collision avoidance controller are described, before the paper concludes with the depiction of further research needs.