Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents

Moe, Signe; Pettersen, Kristin Y.; Fossen, Thor I.; Gravdahl, Jan Tommy

doi:10.1109/med.2016.7536018

Cited by 39 publications

(22 citation statements)

References 19 publications

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“…Furthermore, the controllers (37)- (38) and (39)- (40) render the equilibrium point ξ ξ ξ = 0 0 0 uniformly globally exponentially stable. This is proven in [6].…”

Section: Resultsmentioning

confidence: 72%

“…In [5] the integral LOS approach is shown to ensure path following of straight line paths.. In [6], a LOS approach is presented which ensures path following of a general path in the presence of unknown ocean currents by guiding the USV to side-slip in such a way that the USV velocity is aligned with the tangent of the path, even if the heading is not. The guidance and control system is based on absolute velocity measurements, and no knowledge of the ocean current magnitude or direction is required.…”

Section: Introductionmentioning

confidence: 99%

“…The second contribution of this paper is a complete guidance and control system which is applicable to both straight line and curved paths, and is suitable whether ocean currents are present or not. This is achieved by utilizing recent results for path following of USVs under the influence of ocean currents [6]. The resulting guidance and control system relies on absolute measurements only, thereby foregoing the need for expensive sensors to measure relative velocities.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents

Moe

Pettersen

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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Abstract-An essential ability of an autonomous unmanned surface vessel (USV) is to follow a predefined path in the presence of unknown ocean currents while avoiding collisions with both stationary and dynamic obstacles. This paper combines recent results for path following and collision avoidance for USVs, resulting in a switched guidance system with a designated path following and a collision avoidance mode. The closed-loop system relies on absolute velocity measurements only, and it is shown that a previously suggested guidance law for collision avoidance guarantees tracking of a safe radius about a dynamic obstacle also under the influence of unknown ocean currents. The guidance law is constructed to ensure collision avoidance while following the International Regulations for Preventing Collisions at Sea (COLREGs). Note that this set-based approach is highly generic and may be applied with any combination of methods for path following and collision avoidance. It is proven that the USV evades the obstacles in a COLREGs compliant manner and converges to the desired path in path following mode. Simulations results validate the theoretical results.

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“…Furthermore, the controllers (37)- (38) and (39)- (40) render the equilibrium point ξ ξ ξ = 0 0 0 uniformly globally exponentially stable. This is proven in [6].…”

Section: Resultsmentioning

confidence: 72%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents

Moe

Pettersen

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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“…The cascade structure helps simplify the stability analysis and has been used extensively in the past, see for instance [1][2][3]. The guidance system often involves the line-of-sight (LOS) guidance law (see [4,5]), which can be extended to account for external disturbances and optimize performance at the kinematic level [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Curved Path Following with Deep Reinforcement Learning: Results from Three Vessel Models

Martinsen

Lekkas

2018

OCEANS 2018 MTS/IEEE Charleston

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This paper proposes a methodology for solving the curved path following problem for underactuated vehicles under unknown ocean current influence using deep reinforcement learning. Three dynamic models of high complexity are employed to simulate the motions of a mariner vessel, a container vessel and a tanker. The policy search algorithm is tasked to find suitable steering policies, without any prior info about the vessels or their environment. First, we train the algorithm to find a policy for tackling the straight line following problem for each of the simulated vessels and then perform transfer learning to extend the policies to the curved-path case. This turns out to be a much faster process compared to training directly for curved paths, while achieving indistinguishable performance. Index Terms-Deep reinforcement learning, path following, transfer learning, marine control systems, unknown disturbances

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“…There has also been considerable research on disturbance rejection for LOS-guidance cf. [7], [8] and references therein.…”

Section: Introductionmentioning

confidence: 99%

Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending

Andersen

Kristiansen

2018

2018 IEEE Conference on Control Technology and Applications (CCTA)

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This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model for a fixed-wing UAV with a simple kinematic controller. Simulations are provided to show the potential of this approach.

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Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents

Cited by 39 publications

References 19 publications

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents

Curved Path Following with Deep Reinforcement Learning: Results from Three Vessel Models

Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending

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