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
收藏
页码：6668 / 6673
页数：6
相关论文
共 50 条
  • [31] TRAJECTORY REAL-TIME OBSTACLE AVOIDANCE FOR UNDERACTUATED UNMANNED SURFACE VESSELS
    Soltan, Reza A.
    Ashrafiuon, Hashem
    Muske, Kenneth R.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B, 2010, : 1059 - 1067
  • [32] Online Collision Avoidance Based on Modified Velocity Obstacle Approach for Unmanned Surface Vehicles
    Leng, Jing
    Liu, Jian
    Xu, Hongli
    INTERNATIONAL CONFERENCE ON ELECTRICAL, CONTROL AND AUTOMATION (ICECA 2014), 2014, : 112 - 120
  • [33] Experimental validation of a velocity obstacle based collision avoidance algorithm for unmanned surface vehicles
    Cho, Yonghoon
    Han, Jungwook
    Kim, Jinwhan
    Lee, Philyeob
    Park, Shin-Bae
    IFAC PAPERSONLINE, 2019, 52 (21): : 329 - 334
  • [34] Research on Collision Avoidance Algorithm of Unmanned Surface Vehicle Based on Deep Reinforcement Learning
    Xia, Jiawei
    Zhu, Xufang
    Liu, Zhikun
    Luo, Yasong
    Wu, Zhaodong
    Wu, Qiuhan
    IEEE SENSORS JOURNAL, 2023, 23 (11) : 11262 - 11273
  • [35] Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm
    Fan, Yunsheng
    Sun, Xiaojie
    Wang, Guofeng
    Mu, Dongdong
    APPLIED SCIENCES-BASEL, 2021, 11 (20):
  • [36] MOTION CONTROL AND COLLISION AVOIDANCE ALGORITHMS FOR UNMANNED SURFACE VEHICLE SWARM IN PRACTICAL MARITIME ENVIRONMENT
    Zhuang, Jiayuan
    Zhang, Lei
    Qin, Zihe
    Sun, Hanbing
    Wang, Bo
    Cao, Jian
    POLISH MARITIME RESEARCH, 2019, 26 (01) : 107 - 116
  • [37] An innovative distributed self-organizing control of unmanned surface vehicle swarm with collision avoidance
    Sun, Zhiyuan
    Sun, Hanbing
    Li, Ping
    Zou, Jin
    Zhuang, Jiayuan
    Tan, Guoge
    OCEAN ENGINEERING, 2022, 254
  • [38] Real-time programming method for flight path of unmanned vehicle based on dynamic RCS
    Yan, Qing
    Xiong, Junjiang
    You, Siming
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2011, 37 (09): : 1115 - 1121
  • [39] Improved Object Detection Method for Unmanned Surface Vehicle Using Real-Time Neural Networks
    Wang, Hongshuai
    Zhang, Weidong
    Wen, Yuanqiao
    Qin, Shanxing
    2022 IEEE 2ND INTERNATIONAL CONFERENCE ON COMPUTER COMMUNICATION AND ARTIFICIAL INTELLIGENCE (CCAI 2022), 2022, : 171 - 176
  • [40] Collision avoidance for an unmanned surface vehicle using deep reinforcement learning
    Woo, Joohyun
    Kim, Nakwan
    OCEAN ENGINEERING, 2020, 199
12345