Colregs

The International Regulations for the Prevention of Collision RULE at Sea (COLREGS) apply to all vessels, from kayaks to ocean-liners, on all of the oceans and bodies of water outside the magenta (red) Demarcation Line printed on charts.

There are no material differences between the COLREGS and Inland Rule.

The proposed algorithm is based on modified velocity obstacle which applies encounter situation judgment and decision-making of autonomy hazard avoidance of ship, which also take COLREGS into account.