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Research and Implementation of USV by Adaptive Collision Avoidance Algorithm in Mixed Scenarios

Hu, Pei Lin ; Xiao, Jin Chao ; Xiong, Jun Feng ; Liu, Jin Qing

Journal of physics. Conference series, 2023-05, Vol.2493 (1), p.12003 [Periódico revisado por pares]

Bristol: IOP Publishing

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  • Título:
    Research and Implementation of USV by Adaptive Collision Avoidance Algorithm in Mixed Scenarios
  • Autor: Hu, Pei Lin ; Xiao, Jin Chao ; Xiong, Jun Feng ; Liu, Jin Qing
  • Assuntos: Adaptive algorithms ; Adaptive control ; Barriers ; Collision avoidance ; Deceleration ; Emergency plans ; Emergency response ; Ground stations ; Optimization ; Physics ; Planning ; Potential fields ; Sailing ; Surface vehicles ; Unmanned vehicles
  • É parte de: Journal of physics. Conference series, 2023-05, Vol.2493 (1), p.12003
  • Descrição: Abstract During the mission of the USV (Unmanned Surface Vehicle), there may be some static or dynamic obstacles on the pre-planned track that are not displayed on the ground station. To avoid these obstacles in time, a model of DCPA (distance to the closest point of approach) between the USV and the obstacle is proposed, which is used to plan the speed of the USV, and adaptively accelerate and decelerate can safely avoid dynamic obstacles. We solved the problem of target unreachable and heading change optimization by planning the heading at IAPF (improved artificial potential field) in the process of sailing, which can effectively avoid static obstacles and respond to collision avoidance in emergencies. The collision avoidance planning outputs a set of behavior vectors (speed, heading), and hands it over to the USV controller to control the navigation of the USV. In this study, an adaptive speed and heading planning method is used to improve the collision avoidance ability of the USV in the mixed scene of dynamic and static obstacles. Through multiple launching experiments, the actual collision avoidance effect of the method is verified, and the safety and reliability of the USV application requirements are met.
  • Editor: Bristol: IOP Publishing
  • Idioma: Inglês
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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