  In unstructured urban canals, regulation-aware interactions with other
vessels are essential for collision avoidance and social compliance. In this
paper, we propose a regulations aware motion planning framework for Autonomous
Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our
method builds upon local model predictive contouring control (LMPCC) to
generate motion plans satisfying kino-dynamic and collision constraints in
real-time while including regulation awareness. To incorporate regulations in
the planning stage, we propose a cost function encouraging compliance with
rules describing interactions with other vessels similar to COLlision avoidance
REGulations at sea (COLREGs). These regulations are essential to make an ASV
behave in a predictable and socially compliant manner with regard to other
vessels. We compare the framework against baseline methods and show more
effective regulation-compliance avoidance of moving obstacles with our motion
planner. Additionally, we present experimental results in an outdoor
environment
