A modified dynamic window algorithm for horizontal collision avoidance for AUVs

Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Y.; Wiig, Martin S.

doi:10.1109/cca.2016.7587879

Cited by 41 publications

(33 citation statements)

References 10 publications

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“…Here, we describe a step-by-step design procedure for a simplified version of the dynamic window (DW) algorithm presented in [4] by removing the collision avoidance part of the algorithm.…”

Section: A Simplified Dynamic Window Algorithmmentioning

confidence: 99%

“…The DW algorithm is modified for AUVs in [4] and shows promising results for handling magnitude and rate constraints for the actuators. In this paper, we consider a simplification of the DW algorithm in [4], by removing the collision avoidance part of the algorithm.…”

mentioning

confidence: 99%

“…In this paper, we consider a simplification of the DW algorithm in [4], by removing the collision avoidance part of the algorithm. In particular, this DW-based controller (DWC) will be combined with a heading controller based on the design in [5].…”

mentioning

confidence: 99%

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A ship heading and speed control concept inherently satisfying actuator constraints

Sørensen

Breivik

Eriksen

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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Abstract-Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ensure that actuator constraints are satisfied. To accomplish this, we use the simplified dynamic window algorithm as a dynamic window-based controller (DWC) to guarantee that the velocities remain within a set of feasible boundaries, while simultaneously respecting the actuator constraints. We also develop a modified nonlinear ship model on which to test the proposed concept. The DWC is compared with a more traditional ship heading and speed controller, using performance metrics which consider both control accuracy and energy use. I. INTRODUCTIONWhen a ship sails the sea, its autopilot system usually leads the ship along the desired heading. Numerous motion controllers and autopilots have been proposed over the years. However, many control algorithms found in the literature do not consider saturation constraints for the actuators. Examples of traditional control designs for ship autopilot systems are given in [1]. Not considering actuator constraints may lead to unsatisfying performance or stability issues. In [2], a gain-scheduled control law is developed and tested for handling actuator constraints for a rudder-roll model of a ship.In [3], the dynamic window (DW) algorithm is suggested as a method to perform collision avoidance and deal with constraints imposed by limited velocities and accelerations for mobile robots. This algorithm first generates a set of possible trajectories. Based on these trajectories, a search space of possible velocities can be approximated. The acceleration constrains are considered by limiting the search space to reachable velocities within a next time interval. To reduce the search space even further, all non-admissible velocities are removed to make the vehicle stop safely before it reaches the closest obstacle on the corresponding trajectory.The DW algorithm is modified for AUVs in [4] and shows promising results for handling magnitude and rate constraints for the actuators. In this paper, we consider a simplification of the DW algorithm in [4], by removing the collision avoidance part of the algorithm. In particular, this DW-based controller (DWC) will be combined with a heading controller based on the design in [5].The contribution of this paperis the proposal of the DWC, which inherently satisfies actuator constraints. Furthermore,

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“…Here, we describe a step-by-step design procedure for a simplified version of the dynamic window (DW) algorithm presented in [4] by removing the collision avoidance part of the algorithm.…”

Section: A Simplified Dynamic Window Algorithmmentioning

confidence: 99%

mentioning

confidence: 99%

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A ship heading and speed control concept inherently satisfying actuator constraints

Sørensen

Breivik

Eriksen

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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“…This section presents a mathematical analysis of the closed-loop control system (1), (10), including the switching between guidance mode where ψ d in (10) is given by (11), and CA mode where ψ d is given by (17), according to the switching rule in Section IV-C. In particular, for a static obstacle we will show, as stated in the following lemma, that a vehicle maintaining v β (j) (t) (12) will converge to a circle around the obstacle.…”

Section: Mathematical Analysismentioning

confidence: 99%

“…The dynamic window algorithm [10], [11] incorporates such constraints by searching through a set of valid vehicle trajectories to find a safe control input. Again, only static obstacles are considered.…”

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confidence: 99%

A reactive collision avoidance algorithm for nonholonomic vehicles

Wiig

Pettersen

Krogstad

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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Abstract-This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The algorithm compensates for the obstacle velocity, which can be timevarying. Conditions are derived under which successful collision avoidance is mathematically proved, and the theoretical results are supported by simulations. The proposed algorithm makes only limited sensing requirements of the vehicle. It is intuitive, has a low computational complexity and is suitable also for vehicles with a limited speed envelope or heavy linear acceleration constraints. This is demonstrated by applying the algorithm to a vehicle with a constant forward speed.

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The branching‐course model predictive control algorithm for maritime collision avoidance

Eriksen

Breivik

Wilthil

et al. 2019

Journal of Field Robotics

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This article presents a new algorithm for short-term maritime collision avoidance (COLAV) named the branching-course model predictive control (BC-MPC) algorithm. The algorithm is designed to be robust with respect to noise on obstacle estimates, which is a significant source of disturbance when using exteroceptive sensors such as, for example, radars for obstacle detection and tracking. Exteroceptive sensors do not require vesselto-vessel communication, which enables COLAV toward vessels not equipped with, for example, automatic identification system transponders, in addition to increasing the robustness with respect to faulty information which may be provided by other vessels. The BC-MPC algorithm is compliant with Rules 8, 13, and 17 of the International Regulations for Preventing Collisions at Sea (COLREGs), and favors maneuvers following Rules 14 and 15. Specifically, the algorithm can ignore the specific maneuvering regulations of Rules 14 and 15, which may be required in situations where Rule 17 revokes a stand-on obligation. The algorithm is experimentally validated in several fullscale experiments in the Trondheimsfjord in 2017 using a radar-based system for obstacle detection and tracking. To complement the experimental results, we present simulations where the BC-MPC algorithm is tested in more complex scenarios involving multiple obstacles and several simultaneously active COLREGs rules. The COLAV experiments and simulations show good performance. K E Y W O R D S control, marine robotics, planning

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A modified dynamic window algorithm for horizontal collision avoidance for AUVs

Cited by 41 publications

References 10 publications

A ship heading and speed control concept inherently satisfying actuator constraints

A ship heading and speed control concept inherently satisfying actuator constraints

A reactive collision avoidance algorithm for nonholonomic vehicles

The branching‐course model predictive control algorithm for maritime collision avoidance

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