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Zhang, X, Wang, C, Chui, KT and Liu, W (2021) A real-time collision avoidance framework of MASS based on b-spline and optimal decoupling control. Sensors, 21 (14). p. 4911. ISSN 1424-8220
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A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control. .pdf - Published Version Available under License Creative Commons Attribution. Download (4MB) | Preview |
Abstract
Real-time collision-avoidance navigation of autonomous ships is required by many application scenarios, such as carriage of goods by sea, search, and rescue. The collision avoidance algorithm is the core of autonomous navigation for Maritime autonomous surface ships (MASS). In or-der to realize real-time and free-collision under the condition of multi-ship encounter in an uncertain environment, a real-time collision avoidance framework is proposed using B-spline and optimal decoupling control. This framework takes advantage to handle the uncertain environment with limited sensing MASS which plans dynamically feasible, highly reliable, and safe feasible collision avoidance. First, owing to the collision risk assessment, a B-spline-based collision avoidance trajectory search (BCATS) algorithm is proposed to generate free-collision trajectories effectively. Second, a waypoint-based collision avoidance trajectory optimization is proposed with the path-speed de-coupling control. Two benefits, a reduction of control cost and an improvement in the smoothness of the collision avoidance trajectory, are delivered. Finally, we conducted an experiment using the Electronic Chart System (ECS). The results reveal the robustness and real-time collision avoidance trajectory planned by the proposed collision avoidance system.
| Item Type: | Article |
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| Uncontrolled Keywords: | Risk Assessment; Algorithms; B-spline; collision avoidance; maritime autonomous surface ships; optimal decoupling control; real-time; Algorithms; Risk Assessment; 0301 Analytical Chemistry; 0502 Environmental Science and Management; 0602 Ecology; 0805 Distributed Computing; 0906 Electrical and Electronic Engineering; Analytical Chemistry |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) V Naval Science > V Naval Science (General) |
| Divisions: | Engineering |
| Publisher: | MDPI |
| SWORD Depositor: | A Symplectic |
| Date Deposited: | 04 Jul 2023 10:06 |
| Last Modified: | 04 Jul 2023 10:15 |
| DOI or ID number: | 10.3390/s21144911 |
| URI: | https://researchonline.ljmu.ac.uk/id/eprint/20196 |
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