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

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 obstacl...

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Bibliographic Details
Published in:Journal of physics. Conference series 2023-05, Vol.2493 (1), p.12003
Main Authors: Hu, Pei Lin, Xiao, Jin Chao, Xiong, Jun Feng, Liu, Jin Qing
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Barriers
Collision avoidance
Deceleration
Emergency plans
Emergency response
Ground stations
Optimization
Physics
Planning
Potential fields
Sailing
Surface vehicles
Unmanned vehicles
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Summary: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.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2493/1/012003