水面无人艇分层策略局部危险规避

doi:10.3969/j.issn.0255-8297.2013.04.013

Journal of Applied Sciences ›› 2013, Vol. 31 ›› Issue (4): 418-426.doi: 10.3969/j.issn.0255-8297.2013.04.013

• Control and System • Previous Articles Next Articles

Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy

TANG Ping-peng1, ZHANG Ru-bo1, SHI Chang-ting1, YANG Ge1, LIU De-li2

1. College of Computer Science and Technology, Harbin Engineering University, Harbin 150001, China
2. College of Information and Communication, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2012-05-17 Revised:2012-11-28 Online:2013-07-27 Published:2012-11-28

Abstract

Abstract: This paper proposes a local obstacle avoidance algorithm for unmanned surface vehicles (USV).It is designed based on the kinetic and basic motion control characteristics of USV. The heading window and linear velocity window are obtained from the dynamic window by using a hierarchical strategy. The angular
velocity and linear velocity are obtained from the heading window and linear velocity window with the tangent method and the curve method. For stability of the vessel, a buffering model of angular velocity is designed. Simulation shows that the proposed algorithm has strong capability of obstacle avoidance and high stability.Results of on-boat experiment demonstrate that the algorithm is suitable for the basic control of actual boats,and can guide USV to realize obstacle avoidance in real environment.

Key words: unmanned surface vehicle (USV), local obstacle avoidance, dynamic window, hierarchical strategy, moderation model of angular velocity, tangent method, curve method

CLC Number:

TP24

TANG Ping-peng1, ZHANG Ru-bo1, SHI Chang-ting1, YANG Ge1, LIU De-li2. Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy[J]. Journal of Applied Sciences, 2013, 31(4): 418-426.

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Local Obstacle Avoidance for Unmanned Surface Vehicle Using a Hierarchical Strategy

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