Deliberative Trajectory Planning for Shipborne Autonomous Collision Avoidance System

被引：0
|
作者：
Yang R. [1 ]
Xu J. [1 ]
Wang X. [2 ]
机构：
[1] Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai
[2] Marine Technology Department, Newcastle University, Newcastle upon Tyne
来源：
Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University | 2019年 / 53卷 / 12期
关键词：
Deliberative trajectory planner; Maneuvering constraint; Shipborne autonomous collision avoidance system; Trajectory optimality;
D O I：
10.16183/j.cnki.jsjtu.2019.12.003
中图分类号：
学科分类号：
摘要：
Based on rapidly-exploring random tree (RRT) algorithm, a deliberative trajectory planner DTP was developed to search for global trajectory between the adjacent waypoints of the long voyage. The static obstacle constraints, ship maneuvering constraints, and trajectory optimality requirements are satisfied simultaneously to ensure the feasibility, completeness and optimality in planning. Through simulations and on-water tests of a trimaran model, the proposed DTP method was demonstrated to be effective, superior and stable for the autonomous collision avoidance. The present work provides an important basis for subsequent research and future application. © 2019, Shanghai Jiao Tong University Press. All right reserved.
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页码：1411 / 1419
页数：8
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