RT journal article
T1 A Robust Reactive Static Obstacle Avoidance System for Surface Marine Vehicles
A1 Guardeño Ramírez, Rafael
A1 López Sánchez, Manuel Jesús
A1 Sánchez, Jesús
A1 González, Alberto
A1 Consegliere Castilla, Agustín
A2 Ingeniería en AutomáticaElectrónica, Arquitectura y Redes de Computadores
K1 unmanned surface vehicle
K1 autonomous navigation
K1 static obstacle avoidance
K1 LIDAR sensor modeling
K1 occupancy probability grid
K1 exponential discretization
K1 estimated closed-loop model
K1 repulsive forces
K1 random scenario generation
K1 unknown and congested scenarios
AB This paper is centered on the guidance systems used to increase the autonomy of unmanned surface vehicles (USVs). The new Robust Reactive Static Obstacle Avoidance System (RRSOAS) has been specifically designed for USVs. This algorithm is easily applicable, since previous knowledge of the USV mathematical model and its controllers is not needed. Instead, a new estimated closed-loop model (ECLM) is proposed and used to estimate possible future trajectories. Furthermore, the prediction errors (due to the uncertainty present in the ECLM) are taken into account by modeling the USV's shape as a time-varying ellipse. Additionally, in order to decrease the computation time, we propose to use a variable prediction horizon and an exponential resolution to discretize the decision space. As environmental model an occupancy probability grid is used, which is updated with the measurements generated by a LIDAR sensor model. Finally, the new RRSOAS is compared with other SOA (static obstacle avoidance) methods. In addition, a robustness study was carried out over a set of random scenarios. The results obtained through numerical simulations indicate that RRSOAS is robust to unknown and congested scenarios in the presence of disturbances, while offering competitive performance with respect to other SOA methods.
PB MDPI
SN 1424-8220
YR 2020
FD 2020-11
LK http://hdl.handle.net/10498/24102
UL http://hdl.handle.net/10498/24102
LA eng
DS Repositorio Institucional de la Universidad de Cádiz
RD 10-may-2026