The design process of collision avoidance algorithms for ships to be applied in the autonomous navigation system

This chapter presents the design process of the collision avoidance (COLAV) algorithms for application in the Autonomous Navigation System of Maritime Autonomous Surface Ships (MASS). It describes the steps that have to be followed in order to develop an effective COLAV algorithm, such as the description of assumptions, navigational environment modeling, consideration of obstacles, the development of a solution construction method and a way of ensuring the solutions compliance with the International Regulations for Preventing Collisions at Sea (COLREGs). As a final step, the chapter discusses the verification of the approach. The presented approach could be generalized for other environments, besides the maritime domain, as well as other types of autonomous vehicles.