<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.</p></abstract>

In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.

An Automatic Collision Avoidance Algorithm for Multiple Marine Surface Vehicles

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"An Automatic Collision Avoidance Algorithm for Multiple Marine Surface Vehicles"}

In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship...

An Automatic Collision Avoidance Algorithm for Multiple Marine Surface Vehicles

Published Online: Dec 31, 2019

Page range: 759 - 768

Received: May 23, 2018

Accepted: Jul 05, 2019

DOI: https://doi.org/10.2478/amcs-2019-0056

Keywords
unmanned surface vehicles, obstacle avoidance, control allocation, constrained convex optimization

© 2019 Ramdane Hedjar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

An Automatic Collision Avoidance Algorithm for Multiple Marine Surface Vehicles

Published Online: Dec 31, 2019

Page range: 759 - 768

Received: May 23, 2018

Accepted: Jul 05, 2019

DOI: https://doi.org/10.2478/amcs-2019-0056

Keywordsunmanned surface vehicles, obstacle avoidance, control allocation, constrained convex optimization

© 2019 Ramdane Hedjar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
unmanned surface vehicles, obstacle avoidance, control allocation, constrained convex optimization