Reactive collision avoidance for ASVs based on control barrier functions

被引：0

作者：

Thyri, Emil H. ^{[1
]}

Basso, Erlend A. ^{[1
]}

Breivik, Morten ^{[1
]}

Pettersen, Kristin Y. ^{[1
]}

Skjetne, Roger ^{[1
]}

Lekkas, Anastasios M. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Ctr Autonomous Marine Operat & Syst AMOS, Dept Engn Cybernet, NO-7491 Trondheim, Norway

来源：

2020 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA) | 2020年

关键词：

D O I：

10.1109/ccta41146.2020.9206340

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A reactive collision avoidance method for autonomous surface vehicles based on control barrier functions (CBFs) is proposed. An encounter between the ownship (the vessel that we control) and a target ship is classified, in accordance with the International Regulations for Preventing Collisions at Sea (COLREGs), to be either a head-on, overtake, give-way, stand-on or a safe situation with respect to the ownship. Subsequently, a spatial region is assigned to the target ship based on the classification, and this region is used to define a collision-free set. Based on this, a CBF is formulated to ensure forward invariance of the collision-free set. This CBF can then be applied as an inequality constraint to any guidance, navigation and control system with an optimization-based trajectory tracking or thrust allocation system. The method is verified through simulations and is seen to handle head-on, overtaking and crossing situations with both give-way and stand-on duty in compliance with COLREGs rules 13-15 and 17.

引用

页码：380 / 387

页数：8

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