An autonomous dynamic collision avoidance control method for unmanned surface vehicle in unknown ocean environment

Xiaojie Sun,Yunsheng Fan,Guofeng Wang

doi:10.1177/1729881419831581

Xiaojie Sun, Yunsheng Fan + Show 1 more

Open Access

https://doi.org/10.1177/1729881419831581

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Abstract

There are many unknown obstacles in the sea, so the autonomous navigation of unmanned surface vehicle needs to avoid them as soon as possible even under the condition of low control ability of the controller. To solve the problem, by combining the dynamic collision avoidance algorithm and tracking control, a dynamic collision avoidance control method in the unknown ocean environment is presented. In this article, in consideration of the unknown ocean environment and real-time dynamic obstacle avoidance problem, the collision avoidance controller using a velocity resolution method and backstepping tracking controller based on unmanned surface vehicle maneuvering motion model is designed. Simulation results show that the method is effective and accurate and can provide the reference for the unmanned surface vehicle intelligent collision avoidance control technology.

Highlights

Unmanned surface vehicle (USV) is a kind of common aquatic vessels which can be used in many different types of navigation missions, such as oceanic environment monitoring, maritime rights protecting, and modern military combat
Another concern of this article is that the collision avoidance algorithm can guide the USV to avoid obstacles in real time when the tracking control has large error
This article combines collision avoidance algorithm and tracking control and proposes a collision avoidance control system according to the maneuver characteristics of Lanxin USV

Summary

Introduction

Unmanned surface vehicle (USV) is a kind of common aquatic vessels which can be used in many different types of navigation missions, such as oceanic environment monitoring, maritime rights protecting, and modern military combat. The autonomous navigation system is composed of the two parts, so this article considers the combination of the two parts to achieve autonomous navigation of USV Another concern of this article is that the collision avoidance algorithm can guide the USV to avoid obstacles in real time when the tracking control has large error. The simulation results of collision avoidance control show the correctness and effectiveness of the proposed method It provides reference for dynamic autonomous navigation system of USV. At time 120 s, the vehicle arrives at the end point

Design of dynamic collision avoidance controller

Conclusions