Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control

被引：0

作者：

He, Yu ^{[1
]}

Ouyang, Zilu ^{[1
]}

Zou, Lu ^{[1
,2
]}

Chen, Weimin ^{[3
]}

Zou, Zaojian ^{[1
,2
]}

机构：

[1] School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai

[2] State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai

[3] Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai

来源：

Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2024年 / 58卷 / 11期

关键词：

collision avoidance; disturbance observer; model predictive control (MPC); ship path following; vector field (VF) guidance law;

D O I：

10.16183/j.cnki.jsjtu.2023.121

中图分类号：

学科分类号：

摘要：

A model predictive control (MPC) method based on the vector field guidance law is proposed to improve the effectiveness of path following and collision avoidance for ships. First, the path following and collision-avoidance problems are transformed into heading-control problems by the vector field guidance law. Then, the first-order Nomoto response model is adopted as the ship dynamic model for the model predictive control. Considering the input limitation of the rudder angle, the disturbance observer is introduced to compensate the model error and the environmental disturbances. The stability of the designed path following control system is verified by the Lyapunov theory. Finally, a collision avoidance strategy based on the vector field guidance law is designed to enable the ship to avoid collision autonomously in the process of path following. The simulation results indicate that the proposed methods can make the ship track the target path accurately and realize collision avoidance under the impacts of wave disturbances. © 2024 Shanghai Jiaotong University. All rights reserved.

引用

页码：1644 / 1653

页数：9

共 26 条

[1] MOREIRA L, FOSSEN T I, GUEDES SO ARES C., Path following control system for a tanker ship model, Ocean Engineering, 34, 14, pp. 2074-2085, (2007)
[2] BORHAUG E, PAVLOV A, PETTERSEN K Y., Integral LOS control for path following of underactu-ated marine surface vessels in the presence of constant ocean currents, lEEE Conference on Decision and Control, pp. 4984-4991, (2008)
[3] FOSSEN T I, PETTERSEN K Y, GALEAZZI R., Line-of-sight path following for Dubins paths with adaptive sideslip compensation of drift forces, IEEE Transactions on Control Systems Technology, 23, 2, pp. 820-827, (2015)
[4] NIE J, LIN X., Improved adaptive integral line-of-sight guidance law and adaptive fuzzy path following control for underactuated MSV, ISA Transactions, 94, pp. 151-163, (2019)
[5] NELSON D R, BARBER D B, MCLAIN T W, Et al., Vector field path following for small unmanned air vehicles, 2006 American Control Conference, (2006)
[6] NELSON D R, BARBER D B, MCLAIN TW, Vector field path following for miniature air vehi-cles, IEEE Transactions on Robotics, 23, 3, pp. 519-529, (2017)
[7] XU H T, FOSSEN T I, GUEDES SO ARES C., Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following, European Journal of Control, 53, pp. 88-97, (2020)
[8] XU H T, HINOSTROZA M A, GUEDES SO ARES C., Modified vector field path-following control system for an underactuated autonomous surface ship model in the presence of static obstacles, Journal of Marine Science and Engineering, 9, 6, (2021)
[9] SMIERZCHALSKl R., Evolutionary trajectory planning of ships in navigation traffic areas, Journal Marine Science and Technology, 4, 1, pp. 1-6, (1999)
[10] ZHOU Fengjie, Research on hybrid optimization al-gorithm of particle swarm-genetic (PSO-GA) for ship collision avoidance, Journal of Ship Mechanics, 25, 7, pp. 909-916, (2021)

← 1 2 3 →