[1]LENG Jing,LIU Jiang,XU Hongli.Online path planning of an unmanned surface vehicle for real-time collision avoidance[J].CAAI Transactions on Intelligent Systems,2015,10(3):343-348.[doi:10.3969/j.issn.1673-4785.201405012]
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Online path planning of an unmanned surface vehicle for real-time collision avoidance
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
10
Number of periods:
2015 3
Page number:
343-348
Column:
学术论文—智能系统
Public date:
2015-06-25
- Title:
- Online path planning of an unmanned surface vehicle for real-time collision avoidance
- Keywords:
- unmanned surface vehicle (USV); online path planning; velocity obstacle; Convention on the International Regulations for Preventing Collisions at Sea (COLREGs); mixed-integer linear programming (MILP); dynamic environment
- CLC:
- TP242
- DOI:
- 10.3969/j.issn.1673-4785.201405012
- Abstract:
- A new method of online path planning is proposed in order to solve the problem of online real-time path planning of the unmanned surface vehicle (USV) in a dynamic environment by complying with the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). This method merges the International Regulations for Preventing Collisions at Sea with velocity obstacle (VO) to linearize relative speed of VO and to make VO merge with the mixed-integer linear programming (MILP) as a set of velocity constraints. The USV body dynamics constraints and environmental constraints are combined using multi-objective function as the optimization function and choosing distance, speed and abeyance COLREGS as target functions. Finally, the simulation for the path planning in the two situations of encounter is analyzed and the results show the effectiveness of this planning algorithm.
- References:
-
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Last Update:
2015-07-15