Unmanned Powerboat Motion Terminal Control in an Environment with Moving Obstacles

Abstract

The major point for consideration throughout this paper is controlling the motion of an unmanned powerboat in an obstructed environment with stationary and moving objects. It offers a procedure for the terminal control law development based on the powerboat programmed motion trajectory in a polynomial form and proposes position-trajectory-based control algorithms. A hybrid method based on virtual fields and unstable driving modes, taking into account powerboat speeds and obstacles, is used to plan motion trajectories for obstacle avoidance. There were experiments carried out to test the developed methods and algorithms meanwhile estimating the energy consumption for control, the length of the trajectory and the safety indicator for obstacle avoidance. The novelty of the proposed approach lies in the method used to develop a local movement trajectory in the field with obstacles and in the hybridization of trajectory scheduling methods. This approach allows us to achieve a given safe distance when avoiding obstacles and virtually eliminate the chances of an emergency collision. The presented results can be used in systems of boats autonomous motion control and allow safe stationary and dynamic obstacles avoidance.

Nonlinear Robust Bias Observer for MEMS Gyros Using Noninertial Attitude Sensor Measurement

“…Considering the difficulty to derive the dynamic nonlinear model and measurement noise characteristics of MEMS gyro biases in practical applications, we propose a nonlinear robust bias observer (NRBO) for MEMS gyros using noninertial attitude measurements, inspired by the synergetic control theory [17]. The noninertial attitude measurements can be generated from visual navigation systems [11], magnetic, angular rate, and gravity sensors [5], or GPS [18].…”

A Global Asymptotically Stable Nonlinear Robust Bias Observer for MEMS Gyros

“…Considering the difficulty to derive the dynamic nonlinear model and measurement noise characteristics of MEMS gyro biases in practical applications, we propose a Nonlinear Robust Bias Observer (NBRO) for MEMS gyros using non-inertial attitude measurements in this paper, drawing on the ideas of synergetic control theory [26]. The non-inertial attitude measurements can be generated from visual navigation systems [19], MARG [8], or integrated navigation systems [12].…”