Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence
The control problem of avoidance-path-following is a critical consideration in the research of unmanned surface vehicle (USV) navigation control, and it holds great significance for the navigation safety of USVs. A guidance and control scheme based on finite-distance convergence is proposed in this...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/1/34 |
| _version_ | 1797343323766128640 |
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| author | Junbao Wei Jianqiang Zhang Zhong Liu Jianjing Qu Bowen Sui Yuanyuan Zhang |
| author_facet | Junbao Wei Jianqiang Zhang Zhong Liu Jianjing Qu Bowen Sui Yuanyuan Zhang |
| author_sort | Junbao Wei |
| collection | DOAJ |
| description | The control problem of avoidance-path-following is a critical consideration in the research of unmanned surface vehicle (USV) navigation control, and it holds great significance for the navigation safety of USVs. A guidance and control scheme based on finite-distance convergence is proposed in this paper. First, the requirements for the USV to avoid obstacles from the perspective of path-following lateral error are analyzed. Then, a new performance function with finite-distance convergence is proposed to constrain the lateral error. Based on this, a heading guidance law and a backstepping controller are designed to ensure that the lateral error converges to a steady-state value within the prescribed navigation distance and that the stability is maintained, satisfying the requirements of obstacle avoidance for the USV. In addition, an adaptive velocity command is designed to adjust the velocity with the lateral error, which, to a certain extent, avoids the saturation of the heading actuator caused by the large lateral error. Finally, it is proven through theory and simulation that the control algorithm can guide the USV to achieve avoidance-path-following within a limited distance and to avoid obstacles effectively. |
| first_indexed | 2024-03-08T10:45:58Z |
| format | Article |
| id | doaj.art-176aab1ef03a4b08a951c2b70f5bf6a9 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-08T10:45:58Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-176aab1ef03a4b08a951c2b70f5bf6a92024-01-26T17:13:45ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-12-011213410.3390/jmse12010034Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance ConvergenceJunbao Wei0Jianqiang Zhang1Zhong Liu2Jianjing Qu3Bowen Sui4Yuanyuan Zhang5College of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaCollege of Weaponry Engineering, Naval University of Engineering, Wuhan 430030, ChinaThe control problem of avoidance-path-following is a critical consideration in the research of unmanned surface vehicle (USV) navigation control, and it holds great significance for the navigation safety of USVs. A guidance and control scheme based on finite-distance convergence is proposed in this paper. First, the requirements for the USV to avoid obstacles from the perspective of path-following lateral error are analyzed. Then, a new performance function with finite-distance convergence is proposed to constrain the lateral error. Based on this, a heading guidance law and a backstepping controller are designed to ensure that the lateral error converges to a steady-state value within the prescribed navigation distance and that the stability is maintained, satisfying the requirements of obstacle avoidance for the USV. In addition, an adaptive velocity command is designed to adjust the velocity with the lateral error, which, to a certain extent, avoids the saturation of the heading actuator caused by the large lateral error. Finally, it is proven through theory and simulation that the control algorithm can guide the USV to achieve avoidance-path-following within a limited distance and to avoid obstacles effectively.https://www.mdpi.com/2077-1312/12/1/34USVpath-following and obstacle avoidanceguidance and controlfinite-distance convergenceadaptive velocity command |
| spellingShingle | Junbao Wei Jianqiang Zhang Zhong Liu Jianjing Qu Bowen Sui Yuanyuan Zhang Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence Journal of Marine Science and Engineering USV path-following and obstacle avoidance guidance and control finite-distance convergence adaptive velocity command |
| title | Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence |
| title_full | Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence |
| title_fullStr | Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence |
| title_full_unstemmed | Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence |
| title_short | Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence |
| title_sort | path following and obstacle avoidance control of usv based on finite distance convergence |
| topic | USV path-following and obstacle avoidance guidance and control finite-distance convergence adaptive velocity command |
| url | https://www.mdpi.com/2077-1312/12/1/34 |
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