A reactive collision avoidance method for autonomous surface vehicles based on control barrier functions (CBFs) is proposed. An encounter between the ownship (the vessel that we control) and a target ship is classified, in accordance with the International Regulations for Preventing Collisions at Sea (COLREGs), to be either a head-on, overtake, give-way, stand-on or a safe situation with respect to the ownship. Subsequently, a spatial region is assigned to the target ship based on the classification, and this region is used to define a collision-free set. Based on this, a CBF is formulated to ensure forward invariance of the collision-free set. This CBF can then be applied as an inequality constraint to any guidance, navigation and control system with an optimization-based trajectory tracking or thrust allocation system. The method is verified through simulations and is seen to handle head-on, overtaking and crossing situations with both give-way and stand-on duty in compliance with COLREGs rules 13-15 and 17.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reactive collision avoidance for ASVs based on control barrier functions


    Beteiligte:


    Erscheinungsdatum :

    01.08.2020


    Format / Umfang :

    1750625 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Distributed reactive collision avoidance

    Lalish, E. | British Library Online Contents | 2012


    Reactive Collision Avoidance Algorithm

    Scharf, Daniel / Acikmese, Behcet / Ploen, Scott et al. | NTRS | 2010


    Lane-Change Collision Avoidance Control for Automated Vehicles with Control Barrier Functions

    Ding, Yang / Zhong, Hong / Qian, Yahui et al. | Springer Verlag | 2023


    Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

    Jawhar Ghommam / Luis F. Luque-Vega / Maarouf Saad | DOAJ | 2020

    Freier Zugriff

    ASVS for High-Frame Rate Airborne Multi- Camera Digital Imaging

    Spanier, J. / Mitchell, M. / Society of Flight Test Engineers | British Library Conference Proceedings | 1996