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Dynamic Collision Avoidance Algorithm for Unmanned Surface Vehicles via Layered Artificial Potential Field with Collision Cone

Published online by Cambridge University Press:  27 May 2020

Xinli Xu ,
Wei Pan ,
Yubo Huang  and
Weidong Zhang
Xinli Xu
Affiliation:
(Department of Automation, Shanghai Jiao Tong University, Shanghai200240, China)
Wei Pan
Affiliation:
(Department of Automation, Shanghai Jiao Tong University, Shanghai200240, China)
Yubo Huang
Affiliation:
(Department of Automation, Shanghai Jiao Tong University, Shanghai200240, China)
Weidong Zhang*
Affiliation:
(Department of Automation, Shanghai Jiao Tong University, Shanghai200240, China)
*
(E-mail: wdzhang@sjtu.edu.cn)
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Abstract

A dynamic collision avoidance algorithm via layered artificial potential field with collision cone (LAPF-CC) is proposed to overcome the shortcomings of the traditional artificial potential field method in dynamic collision avoidance. In order to reduce invalid actions for collision avoidance, the potential field is divided into four layers, and a collision cone with risk detection function is introduced. Relative distance and relative velocity are used as variables to establish the risk of collision, and a torque named ‘speed torque’ is constructed. Speed torque, attractive force and repulsive force work together to change the speed and heading of the unmanned surface vehicle (USV). Driving force and torque are controlled separately, which makes it possible for the LAPF-CC algorithm to be used for real-time collision avoidance control of underactuated USVs. Simulation results show that the LAPF-CC algorithm performs well in dynamic collision avoidance.

Keywords

Unmanned Surface VehicleShip CollisionDynamicAlgorithm
Type
Research Article
Information
The Journal of Navigation , Volume 73 , Issue 6 , November 2020 , pp. 1306 - 1325
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Copyright
Copyright © The Royal Institute of Navigation 2020

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