This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhopper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack.

翻译：本文从碰撞规避的视角探讨了海上自主性，以应对向海上自主水面船舶（MASS）的转变。具体而言，论文介绍了与丹麦首艘自主港口巴士“Greenhopper”相关的研发进展。详细阐述并讨论了名为“短程规划器（SHP）”的碰撞与搁浅规避方案。此外，提出了支持安全且符合规则的碰撞规避所必需的自主性技术栈。文中概述了遵守《国际海上避碰规则》（COLREGs）的内在困难，重点指出了自主渡船与港口巴士领域内的一些操作约束与挑战。最后，通过模拟整个Greenhopper自主性技术栈，演示了碰撞与搁浅规避。