EMPMR berthing scheme: A novel event-triggered motion planning and motion replanning scheme for unmanned surface vessels

被引：4

作者：

Yuan, Shouzheng ^{[1
,2
]}

Liu, Zhilin ^{[1
,2
,4
]}

Sun, Yuxin ^{[1
,2
]}

Song, Simeng ^{[1
,2
]}

Wang, Zhongxin ^{[1
,2
]}

Zheng, Linhe ^{[3
]}

机构：

[1] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China

[2] Harbin Engn Univ, Key Lab Intelligent Technol & Applicat Marine Equi, Minist Educ, Harbin 150001, Peoples R China

[3] 703 Res Inst China State Shipbuilding Corp Ltd, Automat Engn Ctr, Gas Turbine Div, Harbin 150078, Peoples R China

[4] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, 145 Nantong Ave, Harbin, Heilongjiang, Peoples R China

来源：

OCEAN ENGINEERING | 2023年 / 286卷

关键词：

Unmanned surface vessel; Automatic berthing; Collision avoidance; Nonlinear model predictive control; Event-triggered mechanism; COLLISION-AVOIDANCE; VEHICLE;

D O I：

10.1016/j.oceaneng.2023.115666

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In this study, the issues related to approaching and berthing of unmanned surface vessels (USVs) are investigated. The automatic berthing task is divided into motion planning and motion replanning. First, a smooth path from the initial position to the berth is planned using A* algorithm and B-spline. Then, the segmented interpolation method is employed to let the USV velocities converge slowly to zero at the berth, and an initial berthing trajectory is obtained. Moreover, considering the kinetic constraints of the USV, the nonlinear model predictive control (NMPC) algorithm is employed in the offline motion planning and online motion replanning scheme. In this scheme, novel static, and COLREGs-based dynamic obstacle avoidance functions are proposed based on Gaussian functions. Furthermore, the event-triggered mechanism is adopted to improve the real-time performance of the NMPC algorithm. The proposed event-triggered motion planning and motion replanning (EMPMR) scheme and Han et al.'s scheme are tested in six scenarios. Simulation results show that the proposed EMPMR scheme can accomplish USV's approaching and automatic berthing of USVs and has better obstacle avoidance and computational performance.

引用

页数：14