COLSim, a simulator for Hybrid Navigation Acceptability and Safety

Autonomous vessels have emerged as a prominent and accepted solution. However, achieving full autonomy for marine vessels requires the development of robust and reliable mission planning and control systems that can handle various encounters with manned and unmanned vessels while operating effectively in various weather and sea conditions. These algorithms need to account for various aspects of a mission like global/local planning, manoeuvrability limitations, external disturbances, Collision Avoidance (COLAV), motion regulations. A significant challenge in this pursuit is ensuring the autonomous vessels’ compliance with the International Regulations for Preventing Collisions at Sea (COLREGs). This paper proposes a (prototypical) realisation of an open-source simulator including replay of AIS Data. The aim of this simulator is to provide fast simulation feeded with real data and including autonomous agents.