کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10156178 | 1666379 | 2018 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A COLREGs-based obstacle avoidance approach for unmanned surface vehicles
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper reports the preliminary research results of a novel automatic obstacle avoidance approach based on the COLREGs for unmanned surface vehicles (USVs). The approach presented is essentially a path searching-based algorithm called the local normal distribution-based trajectory, which plans viable avoidance trajectories in the presence of both static and dynamic obstacles. The proposed algorithm can generate a COLREGs-compliant suboptimal trajectory based on the bell-shaped curve of normal distribution and extract waypoints for the navigation controller to steer USVs safely. In addition, we discuss three key parameters and present a trajectory replanning strategy to improve the safety and flexibility of our approach. The common overtaking, crossing and head-on collision scenarios are each simulated in experiments. It is shown through simulations that the proposed approach considers multiple factors and can plan paths to avoid obstacles safely and smoothly. A comparison is also made with a reactive path planning algorithm which has been modified to follow the COLREGs.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 169, 1 December 2018, Pages 110-124
Journal: Ocean Engineering - Volume 169, 1 December 2018, Pages 110-124
نویسندگان
Yanlong Wang, Xuemin Yu, Xu Liang, Baoan Li,