Quantifying Good Seamanship For Autonomous Surface Vessel Performance Evaluation

The current state-of-the-art for testing and evaluation of autonomous surface vehicle (ASV) decision-making is currently limited to one-versus-one vessel interactions by determining compliance with the International Regulations for Prevention of Collisions at Sea, referred to as COLREGS. Strict measurement of COLREGS compliance, however, loses value in multi-vessel encounters, as there can be conflicting rules which make determining compliance extremely subjective. This work proposes several performance metrics to evaluate ASV decision-making based on the concept of "good seamanship," a practice which generalizes to multi-vessel encounters. Methodology for quantifying good seamanship is presented based on the criteria of reducing the overall collision risk of the situation and taking early, appropriate actions. Case study simulation results are presented to showcase the seamanship performance criteria against different ASV planning strategies.