Study on Algorithms and Path-Optimization for USV’s Obstacle Avoidance
An unmanned surface vessel indispensable tasks to avoid obstacles when it moves in real environment. In order to solve this problem, it has been classified stationary obstacles and moving obstacles as well as offering many different algorithms each type. Because the structure of the unmanned surface vessel is indispensable in two main components: Guidance and Control, in which Guidance will receive waypoints for creating the desired trajectory and then combine the current location of ship to calculate and provide input data for Control to drive the ship following the desired trajectory. Therefore an obstacle avoidance algorithms are integrated in the block Guidance to provide the most suitable input data for the controller is essential. In addition, some cases because the priority of avoiding the collision lead to the path will be long and inefficient. This paper will use the Line of Sight (LOS) algorithm with the lookahead distance to design the Guidance as well as propose an obstacle avoidance algorithm to integrate with it. Besides proposing a method to optimize the way while avoiding obstacles. The results as well as the effectiveness of the proposed method will be shown in the MATLAB/SIMULINK simulation.
KeywordsAvoid obstacles Path-following Line of Sight (LOS)
This research is supported by National Key Lab. of Digital Control and System Engineering (DCSELAB), HCMUT and funded by Vietnam National University Ho Chi Minh city (VNU-HCM) under grant number C2018-20b-02.
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