Goal

Integrate static obstacles into the route planner so they can be evaded.

Motivation

To ensure safe navigation, our autonomous sailboat must be able to avoid known static obstacles such as buoys, docks, underwater hazards, and shorelines while efficiently planning optimal routes.

Available Information

Locations of static obstacles, GPS, Compass, Wind information

Requirements

• Incorporate static obstacle information into the existing route planning algorithm.
• Implement a safety buffer zone around obstacles based on their size and the uncertainty of their position.
• Ensure the system can handle multiple obstacles while still finding efficient paths.
• Prioritize obstacle avoidance while balancing other route optimization factors (wind conditions, energy efficiency, etc.).
• Support both pre-mapped obstacles from charts and newly detected obstacles.

Challenges & Considerations

• Variable Safety Margins: Different obstacle types may require different clearance distances based on their nature and the sailing conditions.
• Computational Efficiency: Route planning must remain responsive even with numerous obstacles in the vicinity.
• Integration with Dynamic Obstacle Avoidance: Later, the system should will be extended to also evade moving obstacles. The implementation should be easily extensible.
• Uncertainty Handling: Account for positioning errors in both the sailboat’s location and the mapped obstacles.
• Path Smoothing: Generate navigable paths that avoid sharp turns while maintaining safe distances from obstacles.