We present a deliberative trajectory planning method to avoid collisions with traffic vessels. It also plans traversal across wavefields generated by these vessels and minimizes the risk of failure. Our method searches over a state-space consisting of pose and time. And, it produces collision-free and minimum-risk trajectory. It uses a lookup table to account for motion uncertainty and failure risk. We also present speed-up techniques to increase performance. Our wave-aware planner produces plans that (1) have shorter execution times and safer when compared to previously developed reactive planning schemes and (2) comply with user-defined wave-traversal constraints and Collision Regulations (COLREGs)

中文翻译：

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动态环境中在波浪引起的运动不确定性下运行的无人水面车辆的轨迹规划

我们提出了一种审慎的轨迹规划方法，以避免与交通船只发生碰撞。它还计划穿越这些船只产生的波场，并将失败的风险降至最低。我们的方法搜索由姿势和时间组成的状态空间。并且，它产生无碰撞和最小风险的轨迹。它使用查找表来说明运动不确定性和故障风险。我们还介绍了加速技术以提高性能。我们的波浪感知规划器生成的计划 (1) 与以前开发的反应式规划方案相比具有更短的执行时间和更安全，以及 (2) 符合用户定义的波浪穿越约束和碰撞规则 (COLREG)