Obstacles avoidance for autonomous marine vehicles based on the model predictive control

Abstract

In this paper, a new obstacle collision avoidance algorithm based on the model predictive control is proposed. The algorithm has the following advantages. First, the vehicle nonlinear dynamics as well as restrictions on the phase variables and the controls defining forbidden areas for the vehicle are taken into account. Second, an adaptation of the algorithm to the time-varying number of obstacles according to information coming in real-time from sensors is implemented. Third, the return to the prescribed trajectory after obstacles avoidance is provided. The ship collision avoidance on the sea surface is considered as an example.