基于速度障碍的多无人船协同避碰

doi:10.7527/S1000-6893.2023.29758

Abstract

Abstract:

USVs will encounter unpredictable obstacles and other vessels and face the risk of collision when navigating. Such risks are exacerbated in heavy water traffic. Based on COLREGs， a cooperative collision avoidance method for multi-USVs is designed in this paper. This method combines the velocity obstacle method with the COLREGs， taking the existence of dynamic vessels and other obstacles into account. This method transforms the collision avoidance problem into a convex optimization problem， and provides collision avoidance reference signals in real-time. Simulation validations under various collision avoidance scenarios are carried out to show the reliability of the proposed method.

Key words: Unmanned Surface Vehicle (USV), cooperative collision avoidance, velocity obstacle method, convex optimization, collision

CLC Number:

Xin HE, Zongying SHI, Yisheng ZHONG. Multi⁃USV cooperative collision avoidance based on velocity obstacle[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729758.

Figures/Tables 14

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References 18

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试验船只		初始位置/m	期望速度大小/（m·s^-1）	期望速度方向/rad
对遇试验	船A	（0， 0）	2	-1.57
对遇试验	船B	（0， -60）	2	1.57
交叉相遇试验	船A	（34.64， 20）	2	-2.62
交叉相遇试验	船B	（0， -40）	2	1.57
追越试验	船A	（0， -30）	2	1.57
追越试验	船B	（0， 0）	1	1.57

试验船只	初始位置/m	期望速度大小/（m·s^-1）	期望速度方向/ rad
船A	（0， 0）	2	-1.57
船B	（-30， -30）	2	0
船C	（30， -30）	2	3.14
船D	（-60， -60）	2	0.5
船E	（60， -60）	2	3.14

试验船只	初始位置/m	期望速度大小/（m·s^-1）	期望速度方向/rad
船A	（0， -100）	2	1.57
船B	（20， -120）	2	1.57
船C	（-20， -120）	2	1.57
船D	（40， -140）	2	1.57
船E	（-40， -140）	2	1.57

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Multi⁃USV cooperative collision avoidance based on velocity obstacle

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