文献详情
Motion Plan of Maritime Autonomous Surface Ships by Dynamic Programming for Collision Avoidance and Speed Optimization
文献类型：期刊
通讯作者：Wang, P (reprint author), Peking Univ, Sch Software & Microelect, Beijing 100871, Peoples R China.; Wang, YC (reprint author), Renmin Univ China, Dept Comp Sci, Beijing 100872, Peoples R China.
期刊名称：SENSORS影响因子和分区
年：2019
卷：19
期：2
ISSN：1424-8220
关键词：motion plan; speed optimization; unmanned surface vehicle; velocity obstacle; conventional ships; dynamic programming; maritime autonomous surface ships
摘要：Maritime Autonomous Surface Ships (MASS) with advanced guidance, navigation, and control capabilities have attracted great attention in recent years. Sailing safely and efficiently are critical requirements for autonomous control of MASS. The MASS utilizes the information collected by the radar, camera, and Autonomous Identification System (AIS) with which it is equipped. This paper investigates the problem of optimal motion planning for MASS, so it can accomplish its sailing task early and safe ...More
Maritime Autonomous Surface Ships (MASS) with advanced guidance, navigation, and control capabilities have attracted great attention in recent years. Sailing safely and efficiently are critical requirements for autonomous control of MASS. The MASS utilizes the information collected by the radar, camera, and Autonomous Identification System (AIS) with which it is equipped. This paper investigates the problem of optimal motion planning for MASS, so it can accomplish its sailing task early and safely when it sails together with other conventional ships. We develop velocity obstacle models for both dynamic and static obstacles to represent the potential conflict-free region with other objects. A greedy interval-based motion-planning algorithm is proposed based on the Velocity Obstacle (VO) model, and we show that the greedy approach may fail to avoid collisions in the successive intervals. A way-blocking metric is proposed to evaluate the risk of collision to improve the greedy algorithm. Then, by assuming constant velocities of the surrounding ships, a novel Dynamic Programming (DP) method is proposed to generate the optimal multiple interval motion plan for MASS. These proposed algorithms are verified by extensive simulations, which show that the DP algorithm provides the lowest collision rate overall and better sailing efficiency than the greedy approaches. ...Hide

DOI：10.3390/s19020434
百度学术：Motion Plan of Maritime Autonomous Surface Ships by Dynamic Programming for Collision Avoidance and Speed Optimization
语言：外文
被引频次：3
基金：National Natural Science Foundation of ChinaNational Natural Science Foundation of China [11671400, 61672524]; Fundamental Research Funds for the Central University; Research Funds of Renmin University of China [2015030273]; National Key Technology Support ProgramNational Key Technology R&D Program [2015BAG20B02, 2014BAK12B06]
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