Real-time motion planning is critical to real-world applications of autonomous surface vehicles (ASVs) moving in a complex sea environment. This paper presents an efficient motion planning method to generate collision-free trajectories for a fleet of ASVs subject to static obstacles. The safe motion planning algorithm is proposed based on high-order control barrier functions (HOCBFs), which are able to address the obstacle and inter-vehicle collision avoidance. The optimal collision-free trajectories are obtained by solving a quadratic program (QP) problem. The proposed safe motion planning algorithm is able to achieve the following two objectives: generating feasible yaw rates to guide each ASV toward its goal, and handling static obstacles and model constraints, simultaneously. Simulation results are given to substantiate the efficacy of the proposed safety-critical motion planning method for multiple ASVs subject to kinematic model constraints and collision avoidance constraints.
Safe Motion Planning for Goal Reaching of Multiple Autonomous Surface Vehicles Based on High-order Control Barrier Functions
2022-06-27
2592941 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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