期刊
OCEAN ENGINEERING
卷 183, 期 -, 页码 132-154出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.04.098
关键词
Autonomous surface vehicles; Cooperative algorithm; Fast marching method; Collision avoidance; Vector-field guidance
资金
- Portuguese Foundation for Science and Technology (Fundacao para a Ciencia e a Tecnologia) [UID/Multi/00134/2013 - LIS-BOA-01-0145-FEDER-007629]
- University of Lisbon
- Centre for Marine Technology and Ocean Engineering (CENTEC)
A system for motion-planning, collision avoidance, guidance and control of an autonomous surface vehicles formation, navigating in complex marine environment is presented. The motion-planning unit, which is based in angle-guidance fast-marching square method, is specially developed for operation in dynamic and static environments. The collision avoidance unit is based in fuzzy-logic formulation, the guidance unit uses the vector-field guidance formulation and the control unit is composed by a PID heading controller and a speed controller. The leader-follower's configuration is used for cooperative operation. A set of numerical simulations are carried out for a team of three autonomous surface vehicles navigating in a complex maritime environment including static and dynamic obstacles and the results show good performance of the system.
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