Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

Li, Shijie; Liu, Jialun; Negenborn, Rudy R.

doi:10.1016/j.oceaneng.2019.03.054

Cited by 90 publications

(39 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is an inevitable trend for the coordinated motion planning control of USVs in the future, because it is difficult to complete complex tasks by relying on a single USV, and the research on the coordinated control of multiple USVs is a key point for the development of USVs formation in the future. Liu, B. et al (Liu, B. et al, 2019), Chen, L., et al (Chen, L., et al, 2019) and Li, S., et al (Li, S., et al, 2019) etc. have done some researches in this area.…”

Section: Discussionmentioning

confidence: 99%

The review unmanned surface vehicle path planning: Based on multi-modality constraint

et al. 2020

View full text Add to dashboard Cite

The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.

show abstract

Section: Discussionmentioning

confidence: 99%

The review unmanned surface vehicle path planning: Based on multi-modality constraint

et al. 2020

View full text Add to dashboard Cite

show abstract

“…In addition, COLREGS-compliance for safe maritime navigation should also be addressed and various approaches for this problem have been tested in the literature: velocity obstacle [14], rapidly-exploring random tree [15] or model predictive control, binary variables to choose scenarios with multi-moving obstacles with erratic motion [16], using a rolling horizon optimization approach to find optimal heading angles for collision avoidance with other ships [17], slack variables to change the vessel's direction for specific situations [18] or elliptical ship domain [19], distributed coordination based on constraint optimization [20], [21]. These approaches consider disc-like approximation for the static or dynamic obstacles, which might be too conservative, w.r.t the conditions in a real environment.…”

Section: Related Work and Remaining Open Problemsmentioning

confidence: 99%

Safe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPC

et al. 2020

View full text Add to dashboard Cite

This paper deals with the motion planning problem for surface vehicles in the presence of varying environmental disturbances. The goal is to steer the vehicles from an initial to a final destination while ensuring connectivity and avoiding collision with fixed and moving obstacles. The novelty lies in the coherent combination among various ingredients for path generation and potential field constructions for collision avoidance and connectivity maintenance, all gathered in a distributed NMPC (Nonlinear Model Predictive Control) framework: i) LOS (Line-of-Sight) guidance and RRT* (optimal Rapidly-exploring Random Tree) algorithms are employed for generating a collision-free path considering static surroundings; ii) on-off barrier functions activate the proposed potential field components which are in the view range of the agents, hence ensuring safe navigation in a dynamic coastal environment with a low computation demand; iii) a NDO (Nonlinear Disturbance Observer) is integrated in the NMPC design to compensate the environmental disturbances. The proposed algorithm is validated through simulations and comparisons carried out over a benchmark for USVs (Unmanned Surface Vehicles) safe navigation in the Trondheim fjord, Norway.

show abstract

“…A number of works are devoted to solving the main problems of automatic divergence, namely, the problem of assessing the situation and developing a solution for safe divergence [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Monitoring of the process of safe divergence on the part of an unmanned vessel

Smolentsev

Sazonov

2021

E3S Web Conf.

View full text Add to dashboard Cite

The paper deals with the problem of control of maneuvers in the divergence of vessels. In a situation of dangerous convergence of vessels, one of them must take a maneuver for safe divergence in accordance with the COLREGS (International Rules of Preventing Collision at Sea). In this case, the vessel, which is given way, must maintain its course and speed. However, it must also monitor compliance with the divergence obligations by the oncoming vessel. The problems arising in the case when the vessel, which is given way, is an unmanned vessel controlled by an automatic agent. The reasons are given for the fact that the behavior of the oncoming vessel may differ from what is expected from the agent managing the vessel to which they must give way. For these cases, the criteria are provided by which the agent operating the unmanned vessel can detect the situation of non-compliance by another vessel with its divergence obligations, in order to take timely action to avoid a collision by maneuvering agent’s vessel in accordance with the COLREGS.

show abstract

Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

Cited by 90 publications

References 33 publications

The review unmanned surface vehicle path planning: Based on multi-modality constraint

The review unmanned surface vehicle path planning: Based on multi-modality constraint

Safe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPC

Monitoring of the process of safe divergence on the part of an unmanned vessel

Contact Info

Product

Resources

About