Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle

doi:10.16182/j.issn1004731x.joss.201810023

Abstract

Abstract: To solve the dynamic tracking control of autonomous avoidance problem of the ＂Lanxin＂ Unmanned Surface Vehicle (USV) in the unknown ocean environment, by combining the unknown dynamic collision avoidance path planning and tracking control, a dynamic tracking control of autonomous avoidance method in the unknown ocean environment is presented. In this method, in consideration of the unknown ocean environment and real time dynamic obstacle avoidance, using a dynamic obstacle avoidance algorithm based on the velocity decomposition, a dynamic autonomous avoidance controller based on USV experimental platform is designed. Simulation results show that the method is effective and accurate, and it also can provide the reference for “Lanxin” USV intelligent collision avoidance control technology.

Key words: Unmanned Surface Vehicle, dynamic collision avoidance, path planning, tracking control

CLC Number:

TP391.9

Fan Yunsheng, Sun Xiaojie, Wang Guofeng, Guo Chen. Tracking Control Method of Autonomous Dynamic Collision Avoidance for Unmanned Surface Vehicle[J]. Journal of System Simulation, 2018, 30(10): 3781-3788.

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