Motion control and collision avoidance algorithms for unmanned surface vehicle swarm in practical maritime environment

• Autorzy: Zhuang Jiayuan , Zhang Lei , Qin Zihe , Sun Hanbing , Wang Bo , Cao Jian

Identyfikatory

DOI

10.2478/pomr-2019-0012

• Języki publikacji: EN

Abstrakty

EN

The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical control framework associated with control algorithms for the USV swarm is proposed. In order to implement the distributed control of the autonomous swarm, the control framework is divided into three task layers. The first layer is the tele-operated task layer, which delivers the human operator’s command to the remote USV swarm. The second layer deals with autonomous tasks (i.e. swarm dispersion, or avoidance of obstacles and/or inner-USV collisions), which are defined by specific mathematical functions. The third layer is the control allocation layer, in which the control inputs are designed by applying the sliding mode control method. The motion controller is proved asymptotically stable by using the Lyapunov method. Numerical simulation of USV swarm motion is used to verify the effectiveness of the control framework.

Słowa kluczowe

EN

USV; swarm control; collision avoidance; sliding mode; artificial potential field

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2019
• Tom: nr 1
• Strony: 107--116
• Opis fizyczny: Bibliogr. 20 poz., rys.

Twórcy

autor

Zhuang Jiayuan

• Harbin Engineering University Nantong Street 150001 Harbin China

autor

Zhang Lei

• Harbin Engineering University Nantong Street 150001 Harbin China

autor

Qin Zihe

• Zhuhai Yunzhou Intelligence Technology Ltd., China

autor

Sun Hanbing

• Harbin Engineering University Nantong Street 150001 Harbin China

autor

Wang Bo

• Harbin Engineering University Nantong Street 150001 Harbin China

autor

Cao Jian

• Harbin Engineering University Nantong Street 150001 Harbin China

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).