An optimisation-based path planner for truck-trailer systems with driving direction changes

Zips, Patrik; Böck, Martin; Kugi, Andreas

doi:10.1109/icra.2015.7139245

Cited by 10 publications

(1 citation statement)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Research works in collision avoidance of the physical-connected system are mainly related to the ground and aerial autonomous vehicles. For ground vehicles, the tractor-trailer system [8] and the wheeled-robot objectmanipulation system [9] are often studied, and the collision avoidance strategy is based on the optimal control and the potential field theory. For aerial vehicles, the multi-UAV system is usually applied for payload transportation [10], [11].…”

Section: Introductionmentioning

confidence: 99%

MPC-based COLREGS Compliant Collision Avoidance for a Multi-Vessel Ship-Towing System

Reppa

Negenborn

2021

2021 European Control Conference (ECC)

View full text Add to dashboard Cite

Collision avoidance plays a vital role in autonomous vehicle systems. As the complexity and scale of missions increase, multi-vehicle systems are adopted in practice. However, there is limited research on collision avoidance of a physically interconnected multi-vessel system. This paper proposes a control scheme for tugboats to tow a ship in congested port areas ensuring collision avoidance that is compliant with COLREGS. The Model Predictive Control (MPC) strategy is used to optimize the towing angles, towing forces, and tugboats' thruster forces and moment. The COLREGS rules are integrated into the ship reference system by altering predefined waypoints to guide the towing system in a safe and lawful way. By designing the cost function for the ship and tugboats in the MPC controller system, the proposed control scheme makes the ship-towing system stay away from the obstacles and follow the calculated waypoints, achieving collision avoidance. Simulation experiments indicate that the proposed method can deal with static and dynamic obstacle situations in complex water traffic environments, and the collision avoidance operations comply with the COLREGS rules.

show abstract