Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method

Xiao-bin HONG; Zheng-pan XU; Xin-yong WEI; Kun-cai ZHU; Yuan-ming CHEN

doi:10.37188/OPE.2021.0272

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Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method

Micro/Nano Technology and Fine Mechanics | 更新时间：2021-10-08

- Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method
- Optics and Precision Engineering Vol. 29, Issue 9, Pages: 2126-2139(2021)
- 作者机构：
  
  1.华南理工大学机械工程学院，广东广州 510640
  2.华南理工大学土木与交通学院，广东广州 510641
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.2021.0272
  CLC： TP242
- Received：07 May 2021，
  
  Revised：28 May 2021，
  
  Published：15 September 2021
- 稿件说明：
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洪晓斌,徐郑攀,魏新勇等.基于改进速度障碍法的水面无人艇动态避障[J].光学精密工程,2021,29(09):2126-2139.

HONG Xiao-bin,XU Zheng-pan,WEI Xin-yong,et al.Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method[J].Optics and Precision Engineering,2021,29(09):2126-2139.
洪晓斌,徐郑攀,魏新勇等.基于改进速度障碍法的水面无人艇动态避障[J].光学精密工程,2021,29(09):2126-2139. DOI： 10.37188/OPE.2021.0272.

HONG Xiao-bin,XU Zheng-pan,WEI Xin-yong,et al.Dynamic obstacle avoidance of unmanned surface vehicle based on improved speed obstacle method[J].Optics and Precision Engineering,2021,29(09):2126-2139. DOI： 10.37188/OPE.2021.0272.

摘要

针对水面无人艇在复杂海况下的动态避障问题，构建了障碍物模型和碰撞风险模型，通过引入多个约束条件的改进速度障碍法，实现了复杂海况下水面无人艇动态避障的航迹重规划。针对无人艇长宽比较大的几何特点，提出了矩形包围框的障碍物模型描述方法，建立无人艇相对运动模型，并在船体坐标系下计算相对运动参数。通过计算碰撞危险度来确定开始避障的时机。最后，在速度障碍法的基础上引入障碍物模型约束和水面无人艇自主局部避障系统特性约束对避障路径进行优化，并通过实验获得动态避障环境下的航迹重规划结果。基于V-REP（Virtual Robot Experimentation Platform）平台仿真实验以及实船避障实验表明，在航速12节的情况下，避碰过程中的路径重规划时间在15 s以下，满足在实际航行多约束条件下水面无人艇的动态避障要求。

Abstract

Aiming at solving the dynamic collision avoidance problem for unmanned surface vehicle under complex marine status， this study constructs the obstacle model and the collision risk model to achieve the track re-planning of dynamic collision avoidance in complex sea conditions with the improved velocity obstacle method that introduced multiple constraints.Firstly， an obstacle model description method for rectangular bounding box was proposed for USV's geometric characteristics of large aspect ratio.A relative motion model of USV in hull coordinate system was established with the relative motion parameters calculated. Secondly，the collision risk was calculated to determine the time to start avoiding the obstacle.Lastly， improved obstacle avoidance path was constructed by introducing obstacle model constraints and characteristic constraints of USV’s autonomous local obstacle avoidance system based on velocity obstacle method. The track re-planning results were obtained through experiments.The simulated experiment on the physical simulation platform of V-REP （Virtual Robot Experimentation Platform） and the actual ship obstacle avoidance experiment show that the path re-planning time during collision avoidance is less than 15 s at a speed of 12 knots， meeting the dynamic collision avoidance requirements of unmanned surface vehicle under multiple constraints of actual navigation.

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