Collision-free dynamic coverage of autonomous surface vehicles with anisotropic sensing

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering Pub Date : 2024-12-30 DOI:10.1016/j.oceaneng.2024.120163

Shijian Jiao , Lu Liu , Zhouhua Peng , Tieshan Li , Weidong Zhang

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Abstract

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) with anisotropic sensing in the presence of static and dynamic obstacles. A collision-free dynamic coverage control strategy, combining coverage control laws and avoidance control laws, is proposed based on directionally constrained sensors. In the coverage control law design, a conical sensor model is utilized to quantify the sensing level and coverage level under anisotropic sensing. Then, the coverage control law is designed for ASVs to achieve the desired coverage level in the target domain. In the avoidance control law design, a conical avoidance function based on improved artificial potential field is developed to guarantee collision-free navigation for ASVs within the sensing angle constraint. The stability of the overall multi-ASV system is proven by the Lyapunov theory. Simulation and experimental results are given to demonstrate the effectiveness of the proposed collision-free dynamic coverage method.

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基于各向异性感知的自主地面车辆无碰撞动态覆盖

本文研究了具有各向异性感知的多自主地面车辆在静态和动态障碍物存在下的动态覆盖问题。提出了一种基于方向约束传感器的无碰撞动态覆盖控制策略，将覆盖控制律与规避控制律相结合。在覆盖控制律设计中，采用锥形传感器模型量化各向异性感知下的感知水平和覆盖水平。然后，设计asv的覆盖控制律，使其在目标域中达到期望的覆盖水平。在避碰控制律设计中，提出了一种基于改进人工势场的锥形避碰函数，以保证自动驾驶汽车在感知角度约束下的无碰撞导航。用李亚普诺夫理论证明了整个多asv系统的稳定性。仿真和实验结果验证了所提无碰撞动态覆盖方法的有效性。

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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来源期刊

Ocean Engineering 工程技术-工程：大洋

CiteScore

7.30

自引率

34.00%

发文量

2379

审稿时长

8.1 months

期刊介绍： Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.