Autonomous Navigation in Confined Waters - A COLREGs Rule 9 Compliant Framework

Fully or partial autonomous marine vessels are actively being developed by many industry actors. In cases, the will be operating close to shore, and within range of a Remote Control Center (RCC). Close shore operation requires that vessel is able navigate in proximity other manned vessels, possibly confined waters, while obeying COLREGs on equal terms as any at sea. waters however, certain rules apply, which might alter expected actions (give-way stand-on), depending manoeuvrability vessels. This paper presents Situation Awareness (SAS) framework for navigation complies with rule 9 (Narrow Channels). The proposed solution comprises method evaluating assessing applicability 9. feature then integrated into an already existing SAS facilitating COLREGs-compliant restricted waters. demonstrated simulation using case study small passenger ferry.