A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control

Zhang, Xinyu; Wang, Chengbo; Chui, Kwok Tai; Liu, Ryan Wen

doi:10.3390/s21144911

Cited by 16 publications

(11 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the trajectory generation methods, curve interpolation methods, such as B-spline [ 19 ], are commonly used to smooth the trajectory. The smoothness of the trajectory and motion state is guaranteed by the continuity theorem of higher-order derivatives of a curve.…”

Section: Related Workmentioning

confidence: 99%

A USV-UAV Cooperative Trajectory Planning Algorithm with Hull Dynamic Constraints

Huang

Chen

Wang³

et al. 2023

Sensors

View full text Add to dashboard Cite

Efficient trajectory generation in complex dynamic environments remains an open problem in the operation of an unmanned surface vehicle (USV). The perception of a USV is usually interfered by the swing of the hull and the ambient weather, making it challenging to plan optimal USV trajectories. In this paper, a cooperative trajectory planning algorithm for a coupled USV-UAV system is proposed to ensure that a USV can execute a safe and smooth path as it autonomously advances through multi-obstacle maps. Specifically, the unmanned aerial vehicle (UAV) plays the role of a flight sensor, providing real-time global map and obstacle information with a lightweight semantic segmentation network and 3D projection transformation. An initial obstacle avoidance trajectory is generated by a graph-based search method. Concerning the unique under-actuated kinematic characteristics of the USV, a numerical optimization method based on hull dynamic constraints is introduced to make the trajectory easier to be tracked for motion control. Finally, a motion control method based on NMPC with the lowest energy consumption constraint during execution is proposed. Experimental results verify the effectiveness of the whole system, and the generated trajectory is locally optimal for USV with considerable tracking accuracy.

show abstract

Section: Related Workmentioning

confidence: 99%

A USV-UAV Cooperative Trajectory Planning Algorithm with Hull Dynamic Constraints

Huang

Chen

Wang³

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…This section presents the notions of B-spline curves and their equivalent Bézier representations. The focus is on their definitions, transformations, and further geometrical properties, while more details on both types of curves could be found in the literature [ 11 , 12 , 15 , 18 , 20 , 21 ]. The same notations as in some of the previous work [ 8 , 9 ] is used intentionally, for easy reference.…”

Section: B-spline and Equivalent Bézier Curvesmentioning

confidence: 99%

“…For example, in [ 16 ], the authors generalize the methods for motion planning with B-spline curves for constrained flatness systems. Reference [ 17 ] proposed a path planner using a B-spline curve with an obstacle avoidance property for heavy mining vehicles while [ 18 ] introduced the solution for the same problem but for Maritime autonomous surface ships. In [ 19 ], the authors further ensured the constraints on the B-spline path’s curvature for autonomous cars.…”

Section: Introductionmentioning

confidence: 99%

Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves

Nguyen

Gangavarapu

Kompe

et al. 2023

Sensors

View full text Add to dashboard Cite

To deal with the problem of optimal path planning in 2D space, this paper introduces a new toolbox named "Navigation with Polytopes" and explains the algorithms behind it. The toolbox allows one to create a polytopic map from a standard grid map, search for an optimal corridor, and plan a safe B-spline reference path used for mobile robot navigation. Specifically, the B-spline path is converted into its equivalent Bézier representation via a novel calculation method in order to reduce the conservativeness of the constrained path planning problem. The conversion can handle the differences between the curve intervals and allows for efficient computation. Furthermore, two different constraint formulations used for enforcing a B-spline path to stay within the sequence of connected polytopes are proposed, one with a guaranteed solution. The toolbox was extensively validated through simulations and experiments.

show abstract

“…On the other hand, many techniques have been proposed for solving the aforementioned problem of ship steering in specific cases, based on both conventional techniques and more developed ones. Herein, the main aim was to provide assistance to navigators in terms of making the appropriate and accurate maneuvering decisions under certain conditions, using such techniques as those proposed in the references [18][19][20][21][22][23][24][25]. The study presented in this paper was dedicated to the issue of determining the optimal safe trajectory of a ship at sea, where many other ships can be encountered in the vicinity, using selected methods based on artificial intelligence techniques, such as fuzzy logic, neural network, genetic algorithms, and particle swarm optimization algorithms.…”

Section: Introductionmentioning

confidence: 99%

Artificial Intelligence-Based Methods for Decision Support to Avoid Collisions at Sea

2021

View full text Add to dashboard Cite

Ship collisions cause major losses in terms of property, equipment, and human lives. Therefore, more investigations should be focused on this problem, which mainly results from human error during ship control. Indeed, to reduce human error and considerably improve the safe traffic of ships, an intelligent tool based on fuzzy set theory is proposed in this paper that helps navigators make fast and competent decisions in eventual collision situations. Moreover, as a result of selecting the shortest collision avoidance trajectory, our tool minimizes energy consumption. The main aim of this paper was the development of a decision-support system based on an artificial intelligence technique for safe ship trajectory determination in collision situations. The ship’s trajectory optimization is ensured by multistage decision making in collision situations in a fuzzy environment. Furthermore, the navigator’s subjective evaluation in decision making is taken into account in the process model and is included in the modified membership function of constraints. A comparative analysis of two methods, i.e., a method based on neural networks and a method based on the evolutionary algorithm, is presented. The proposed technique is a promising solution for use in real time in onboard decision-support systems. It demonstrated a high accuracy in finding the optimal collision avoidance trajectory, thus ensuring the safety of the crew, property, and equipment, while minimizing energy consumption.

show abstract

A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control

Cited by 16 publications

References 36 publications

A USV-UAV Cooperative Trajectory Planning Algorithm with Hull Dynamic Constraints

A USV-UAV Cooperative Trajectory Planning Algorithm with Hull Dynamic Constraints

Navigation with Polytopes: A Toolbox for Optimal Path Planning with Polytope Maps and B-spline Curves

Artificial Intelligence-Based Methods for Decision Support to Avoid Collisions at Sea

Contact Info

Product

Resources

About