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| To differentiate the COLREGs situation and when to apply actions, four different sectors are defined. The following diagram displays how COLREGs situations are classified. | To differentiate the COLREGs situation and when to apply actions, four different sectors are defined. The following diagram displays how COLREGs situations are classified. | ||
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| Note that the Crossing sectors are overlapping the Head-on section. The reason is that you can still experience a Crossing situation when the obstacle is inside the Head-on section. Consider, for example, a situation where an obstacle is in the head-on section, and moving with a heading of 90°relative to the ASV heading. Hence not moving towards the ASV, so this situation be a crossing situation, but still with a potential collision cost in the head-on section. | Note that the Crossing sectors are overlapping the Head-on section. The reason is that you can still experience a Crossing situation when the obstacle is inside the Head-on section. Consider, for example, a situation where an obstacle is in the head-on section, and moving with a heading of 90°relative to the ASV heading. Hence not moving towards the ASV, so this situation be a crossing situation, but still with a potential collision cost in the head-on section. | ||