This paper addresses safety-critical path following guidance of intelligent surface vehicles (ISV) moving in confined water regions subject to static and dynamic obstacles. A nominal guidance vector of desired linear speed and yaw rate is designed to achieve the path following task. With the aid of control barrier functions, the collision avoidance requirements are converted into the velocity constraint on the velocity guidance vector. The optimal guidance signals are obtained by solving a quadratic programming problem such that collision avoidance will not violate. By using the proposed safety-critical path following guidance law, the ISV is capable of achieving path following task with safety guarantees moving in the confined water region and stopping at the path terminal point. The proposed guidance scheme is applied to the automatic docking mission. Simulation results are provided to illustrate the effectiveness of the proposed optimal safety-critical path following guidance law.
Safety-Critical Path Following Guidance of Intelligent Surface Vehicles for Automatic Docking Subject to Static and Dynamic Obstacles
08.10.2022
2231811 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Guidance-based path following for autonomous underwater vehicles
Tema Archiv | 2005
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