Experimental validation of a velocity obstacle based collision avoidance algorithm for unmanned surface vehicles

被引：25

作者：

Cho, Yonghoon ^{[1
]}

Han, Jungwook ^{[2
]}

Kim, Jinwhan ^{[1
]}

Lee, Philyeob ^{[3
]}

Park, Shin-Bae ^{[4
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon, South Korea

[2] KRISO, Maritime Safety & Environm Res Div, Daejeon, South Korea

[3] Hanwha Syst Co Ltd, Gumi, South Korea

[4] Agcy Def Dev, Jinhae, South Korea

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

unmanned surface vehicle (USV); autonomous navigation; collision avoidance; autopilot; waypoint tracking; NAVIGATION; SYSTEM;

D O I：

10.1016/j.ifacol.2019.12.328

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents experimental validation results of autonomous collision avoidance algorithms using an unmanned surface vehicle (USV). For autonomous collision avoidance while following given waypoints, the existing line-of-sight (LOS) guidance and velocity obstacle (VO) algorithms are modified and applied to this USV. The proposed collision avoidance algorithm considers the rule 13 to 17 in the international collision regulations (COLREGs) and provides a rule-compliant evasive path. The performance and practical validity of the developed autonomous navigation and collision avoidance capabilities are demonstrated and discussed using the results of real-sea experiments conducted with the USV M-Searcher, developed by the Agency for Defense Development, Republic of Korea. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：329 / 334

页数：6

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