Real-time Collision Avoidance Control for Unmanned Surface Vehicle Based on Velocity Resolution Method

被引：0

作者：

Sun, Xiaojie ^{[1
]}

Wang, Guofeng ^{[1
]}

Fan, Yunsheng ^{[1
]}

Mu, Dongdong ^{[1
]}

Qiu, Bingbing ^{[1
]}

Liu, Jian ^{[1
]}

机构：

[1] Dalian Maritime Univ, Coll Marine Elect Engn, Dalian 116026, Peoples R China

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

关键词：

Unmanned Surface Vehicle; Velocity Resolution; Velocity Obstacle; Collision Avoidance Control; FEEDBACK; USV;

D O I：

10.23919/chicc.2019.8866486

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Unmanned Surface Vehicles (USVs), as a kind of unmanned platform on the water, need to be applied to a variety of complex maritime tasks with flexible maneuverability. In order to cope with the above problems, the development of a real-time collision avoidance control system has become an important part of USV research. Based on the principle of velocity resolution, the paper improves the velocity obstacle method, and designs a real-time collision avoidance control system combined with the controller. Simulation experiments show that the system has millisecond level real-time performance and control error compensation capability, which can provide a reference for the research of collision avoidance technology about USV.

引用

页码：6668 / 6673

页数：6

共 50 条

[21] Real-time vision-based tracking control of an unmanned vehicle
Lee, Kok-Meng, 1600, Pergamon Press Ltd, Oxford, United Kingdom (05):
[22] REAL-TIME OBSTACLE AVOIDANCE AND WAYPOINT NAVIGATION OF AN UNMANNED GROUND VEHICLE
Sevil, Hakki Erhan
Desai, Pranav
Dogan, Atilla
Huff, Brian
PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 1, 2013, : 263 - 271
[23] Control, navigation and collision avoidance for an unmanned aerial vehicle
Chee, K. Y.
Zhong, Z. W.
SENSORS AND ACTUATORS A-PHYSICAL, 2013, 190 : 66 - 76
[24] Unmanned vehicle's control real-time method based on neural network and selection function
Daryina, Anna N.
Prokopiev, Igor, V
14TH INTERNATIONAL SYMPOSIUM INTELLIGENT SYSTEMS, 2021, 186 : 217 - 226
[25] Vehicle collision warning and avoidance system using real-time FFT
Flikkema, PG
Johnson, SG
1996 IEEE 46TH VEHICULAR TECHNOLOGY CONFERENCE, PROCEEDINGS, VOLS 1-3: MOBILE TECHNOLOGY FOR THE HUMAN RACE, 1996, : 1820 - 1824
[26] Collision avoidance control for limited perception unmanned surface vehicle swarm based on proximal policy optimization
Yin, Mengmeng
Zhao, Yiyun
Li, Fanbiao
Liu, Bin
Yang, Chunhua
Gui, Weihua
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2024, 361 (06):
[27] Collision Avoidance Using Finite Control Set Model Predictive Control for Unmanned Surface Vehicle
Sun, Xiaojie
Wang, Guofeng
Fan, Yunsheng
Mu, Dongdong
Qiu, Bingbing
APPLIED SCIENCES-BASEL, 2018, 8 (06):
[28] COLREG Compliant Collision Avoidance System for an Unmanned Surface Vehicle
Lysak, Maksym
Silva, Guilherme
Almeida, Carlos
Martins, Alfredo
Almeida, Jose
OCEANS 2024 - SINGAPORE, 2024,
[29] Collision avoidance guidance and control scheme for vector propulsion unmanned surface vehicle with disturbance
Sun, Xiaojie
Wang, Guofeng
Fan, Yunsheng
APPLIED OCEAN RESEARCH, 2021, 115
[30] On an Autonomous Navigation System for Collision Avoidance of Unmanned Surface Vehicle
Son, Nam-sun
PROCEEDINGS OF THE ION 2013 PACIFIC PNT MEETING, 2013, : 470 - 476

← 1 2 3 4 5 →