Collision avoidance control algorithm for USV based on dynamic constraints
Yun Zhang, Yunsheng Fan, Yuanyuan Yu, Dongdong Mu, Xiaojie Sun · 2022 41st Chinese Control Conference (CCC) · 2022
Autonomous planning of navigation trajectory is a key research element of USV and a basic condition for safe and autonomous navigation. In this paper, an autonomous planning collision avoidance control algorithm for USV is introduced. TFMS is used to trajectory planning and dynamic window method for real-time collision avoidance, a hybrid planning algorithm of dynamic path planning algorithm and parallel planning of autonomous collision avoidance control algorithm is built to achieve autonomous navigation control of USV. The setting method of local target points has been improved to shorten the running time of the control system. The validation was carried out in different static and dynamic environments. A realistic collision avoidance environment model is established by extracting the environmental data from the port map of Dalian port. The result demonstrates that the method is effective in controlling the USV to sail safely and quickly in complex real scenarios with various dynamic impediments.