scholarly journals Collision avoidance planning for unmanned surface vehicle based on eccentric expansion

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985194 ◽  
Author(s):  
Lifei Song ◽  
Zhuo Chen ◽  
Zaopeng Dong ◽  
Zuquan Xiang ◽  
Yunsheng Mao ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Physical Simulation ◽  
Risk Level ◽  
Unmanned Surface Vehicle ◽  
Unmanned Surface Vehicles ◽  
Automatic Driving ◽  
International Regulations ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle

The International Regulations for Preventing Collisions at Sea (COLREGS) specify certain navigation rules for ships at risk for collision. Theoretically, the safety of unmanned surface vehicles and traffic boats would be guaranteed when they comply with the COLREGS. However, if traffic boats do not comply with the demands of the convention, thereby increasing the danger level, then adhering to the COLREGS may be dangerous for the unmanned surface vehicle. In this article, a dynamic obstacle avoidance algorithm for unmanned surface vehicles based on eccentric expansion was developed. This algorithm is used to solve the possible failure of collision avoidance when the unmanned surface vehicle invariably obeys the COLREGS during the avoidance process. An obstacle avoidance model based on the velocity obstacle method was established. Thereafter, an eccentric expansion operation on traffic boats was proposed to ensure a reasonable balance between safety and the rules of COLREGS. The expansion parameters were set according to the rules of COLREGS and the risk level of collision. Then, the collision avoidance parameters were calculated based on the aforementioned motion model. With the use of MATLAB and Unity software, a semi-physical simulation platform was established to perform the avoidance simulation experiment under different situations. Results show the validity, reliability and intellectuality of the algorithm. This research can be used for intelligent collision avoidance of unmanned surface vehicle and other automatic driving ships.

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

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983158 ◽  
Author(s):  
Yunsheng Fan ◽  
Xiaojie Sun ◽  
Guofeng Wang
Keyword(s):  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Control Method ◽  
Unmanned Surface Vehicle ◽  
Time Dynamic ◽  
Collision Avoidance Control ◽  
Dynamic Obstacle Avoidance ◽  
Avoidance Control ◽  
Dynamic Obstacle ◽  
Ocean Environment

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.

scholarly journals Artificial potential field-based swarm finding of the unmanned surface vehicles in the dynamic ocean environment

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092530
Author(s):  
Guoge Tan ◽  
Jiayuan Zhuang ◽  
Jin Zou ◽  
Lei Wan ◽  
Zhiyuan Sun
Keyword(s):  
Numerical Simulations ◽  
Collision Avoidance ◽  
Potential Field ◽  
Advanced Technology ◽  
Artificial Potential Field ◽  
Unmanned Surface Vehicle ◽  
Unmanned Surface Vehicles ◽  
Field Force ◽  
International Regulations ◽  
Ocean Environment

Using multiple unmanned surface vehicle swarms to implement tasks cooperatively is the most advanced technology in recent years. However, how to find which swarm the unmanned surface vehicle belongs to is a meaningful job. So, this article proposed an artificial potential field-based swarm finding algorithm, which applies the potential field force directly to unmanned surface vehicles and leads them to their belonging swarm quickly and accurately. Meanwhile, the proposed algorithm can also maintain the formation stable while following the desired path. Based on the swarm finding algorithm, the artificial potential field-based collision avoidance method and the International Regulations for Preventing Collisions at Sea-based dynamic collision avoidance strategy are applied to the swarm control of multi-unmanned surface vehicles to enhance the performance in the dynamic ocean environment. Methods in this article are verified through numerical simulations to illustrate the feasibility and effectiveness of proposed schemes.

Online Heuristically Planning for Relative Optimal Paths Using a Stochastic Algorithm for USVs

2019 ◽  
Vol 73 (2) ◽  
pp. 485-508
Author(s):  
Naifeng Wen ◽  
Rubo Zhang ◽  
Guanqun Liu ◽  
Junwei Wu
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Optimal Path ◽  
Stochastic Algorithm ◽  
Proportional Navigation ◽  
Reference Information ◽  
International Regulations ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle ◽  
Local Path

This paper attempts to solve a challenge in online relative optimal path planning of unmanned surface vehicles (USVs) caused by current and wave disturbance in the practical marine environment. The asymptotically optimal rapidly extending random tree (RRT*) method for local path optimisation is improved. Based on that, an online path planning (OPP) scheme is proposed according to the USV's kinematic and dynamic model. The execution efficiency of RRT* is improved by reduction of the sampling space that is used for randomly learning environmental knowledge. A heuristic sampling scheme is proposed based on the proportional navigation guidance (PNG) method that is used to enable the OPP procedure to utilise the reference information of the global path. Meanwhile, PNG is used to guide RRT* in generating feasible paths with a small amount of gentle turns. The dynamic obstacle avoidance problem is also investigated based on the International Regulations for Preventing Collisions at Sea. Case studies demonstrate that the proposed method efficiently plans paths that are relatively easier to execute and lower in fuel expenditure than traditional schemes. The dynamic obstacle avoidance ability of the proposed scheme is also attested.

scholarly journals Collision Avoidance Algorithm Based on COLREGs for Unmanned Surface Vehicle

2021 ◽  
Vol 9 (8) ◽  
pp. 863
Author(s):  
Hyo-Gon Kim ◽  
Sung-Jo Yun ◽  
Young-Ho Choi ◽  
Jae-Kwan Ryu ◽  
Jin-Ho Suh
Keyword(s):  
Collision Avoidance ◽  
Unmanned Surface Vehicle ◽  
Unmanned Surface Vehicles ◽  
International Regulations ◽  
Window Approach

Recently, unmanned surface vehicles (USV) are being actively developed. For USVs to be put to practical use, it is necessary to secure safety by preventing collisions with general ships. To this end, USVs must avoid opposing vessels based on international regulations for preventing collisions at sea (COLREGs, 1972). This paper proposes an algorithm for USVs to avoid collisions with opposing vessels based on COLREG rules. The proposed algorithm predicts dangerous situations based on distance to closest point of approach (DCPA) and time to closest point of approach (TCPA). It allows USVs to avoid opponent ships based on the dynamic window approach (DWA). The DWA has been improved to comply with COLREGs, and we implemented a simulation and compared the standard DWA with the COLREG-compliant DWA (CCDWA) proposed in this paper. The results confirm that the CCDWA complies with COLREGs.

scholarly journals COLREGs: Compliant Dynamic Obstacle Avoidance of USVs Based on theDynamic Navigation Ship Domain

2021 ◽  
Vol 9 (8) ◽  
pp. 837
Author(s):  
Fang Deng ◽  
Leilei Jin ◽  
Xiuhui Hou ◽  
Longjin Wang ◽  
Boyang Li ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Collision Risk ◽  
Unmanned Surface Vehicles ◽  
Dynamic Navigation ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle ◽  
Path Planner ◽  
Trajectory Simulations

Dynamic obstacle avoidance is essential for unmanned surface vehicles (USVs) to achieve autonomous sailing. This paper presents a dynamic navigation ship domain (DNSD)-based dynamic obstacle avoidance approach for USVs in compliance with COLREGs. Based on the detected obstacle information, the approach can not only infer the collision risk, but also plan the local avoidance path trajectory to make appropriate avoidance maneuvers. Firstly, the analytical DNSD model is established taking into account the ship parameters, maneuverability, sailing speed, and encounter situations regarding COLREGs. Thus, the DNSDs of the own and target ships are utilized to trigger the obstacle avoidance mode and determine whether and when the USV should make avoidance maneuvers. Then, the local avoidance path planner generates the new avoidance waypoints and plans the avoidance trajectory. Simulations were implemented for a single obstacle under different encounter situations and multiple dynamic obstacles. The results demonstrated the effectiveness and superiority of the proposed DNSD-based obstacle avoidance algorithm.

Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method

2021 ◽  
Vol 29 (9) ◽  
pp. 2126-2139
Author(s):  
Xiao-bin HONG ◽  
◽  
Zheng-pan XU ◽  
Xin-yong WEI ◽  
Kun-cai ZHU ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Unmanned Surface Vehicle ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle

A two-level dynamic obstacle avoidance algorithm for unmanned surface vehicles

2018 ◽  
Vol 170 ◽  
pp. 351-360 ◽  
Author(s):  
A. Lifei Song ◽  
B. Yiran Su ◽  
C. Zaopeng Dong ◽  
D. Wei Shen ◽  
E. Zuquan Xiang ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Unmanned Surface Vehicles ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle

Open Experimental AGV Platform for Dynamic Obstacle Avoidance in Narrow Corridors

2020 ◽  
Author(s):  
Sam Weckx ◽  
Bastiaan Vandewal ◽  
Erwin Rademakers ◽  
Karel Janssen ◽  
Kurt Geebelen ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Dynamic Obstacle Avoidance ◽  
Dynamic Obstacle
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