Multi-ship collision avoidance

In this project, my goal is to avoid static and dynamic obstacles (no communication between obstacles), that is, to find collision-free paths. In scenarios (a sample video and raw data attached ) that show the dynamic and static obstacles I will provide; it will be sufficient to show that the project works. Control Barrier Function (CBF) and Control Lyapunov Function (CLF), which are methods used in robotics, will be applied in the project. International Regulations for Preventing Collision Rules (COLREGs) that I will provide will be integrated into these methods. Other languages, preferably MATLAB, can also be used in the project. The attached thesis and articles will be useful for better understanding and implementation of the project. The deadline is 40 days.