Navigating restricted waterways is challenging due to limited space and unpredictable situations. PROMPTER is a motion planning framework that models navigation as an inference problem using a Bayesian factor graph. It incorporates ship maneuverability, situational awareness, and path planning, while accounting for obstacles, narrow channels, encounters, and regulations. PROMPTER supports both cooperative and non-cooperative strategies for scenarios with varying communication reliability.
This project is a collaborative effort among the following esteemed institutions:
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CARTIN, Nanyang Technological University (NTU):
A leading research institute focusing on advanced technologies and innovations. -
Southeast University, School of Mathematics:
Renowned for its mathematical research and interdisciplinary applications. -
Wuhan University of Technology, School of Navigation:
Specializing in maritime research and technology development. -
Nanjing University of Posts and Telecommunications, College of Automation
The HTML files provide animations showcasing the complete motion planning results. The source code will be made available after the paper is published.