A Novel Double Layered Weighted Potential Field Framework for Multi-USV Navigation towards Dynamic Obstacle Avoidance in a Constrained Maritime Environment

Tamzidul Mina, Yogang Singh, B. Min
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引用次数: 8

Abstract

Motion planning of multiple unmanned surface vehicles (USVs) towards increased autonomy and wider coverage of the maritime environment is a pertinent requirement. Given the numerous types of USVs currently available with a wide spectrum of maneuvering capabilities, we present a generalized multi-USV navigation framework adaptable to specific USV maneuvering response capabilities for dynamic obstacle avoidance. The present paper integrates an optimal path planning with safety distance constrained A* algorithm and a proposed adaptively weighted potential field based path following approach with collision avoidance based on USV maneuvering response times. The system allows USVs with fast maneuvering abilities to react late and slow USVs to react sooner to oncoming moving obstacles gradually such that a smooth path is followed by the USV group with reduced cross track error. Simulation results validate reduced cross track error for slow and fast maneuvering response time multi-USV teams.
一种新的多层加权势场框架用于多usv在受限海洋环境下的动态避障导航
对多艘无人水面车辆(usv)进行运动规划,以提高自主性和扩大海洋环境的覆盖范围,是一项相关要求。鉴于目前可用的多种类型的USV具有广泛的机动能力,我们提出了一种通用的多USV导航框架,适用于特定的USV动态避障机动响应能力。本文将具有安全距离约束的路径规划算法与基于USV机动响应时间的自适应加权势场路径跟踪方法相结合,提出了一种基于USV机动响应时间的避碰路径跟踪方法。该系统允许具有快速机动能力的USV做出较晚的反应,而慢速USV可以更快地对迎面而来的移动障碍物做出反应,这样USV组就可以沿着一条平滑的路径行进,减少交叉轨迹误差。仿真结果验证了慢速和快速机动响应时间的多usv团队降低了交叉航迹误差。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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