Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm
For the dynamic collision avoidance problem of an unmanned surface vehicle (USV), a dynamic collision avoidance control method based on an improved cuckoo search algorithm is proposed. The collision avoidance model for a USV and obstacles is established on the basis of the principle of the velocity...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/20/9741 |
| _version_ | 1797515354248839168 |
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| author | Yunsheng Fan Xiaojie Sun Guofeng Wang Dongdong Mu |
| author_facet | Yunsheng Fan Xiaojie Sun Guofeng Wang Dongdong Mu |
| author_sort | Yunsheng Fan |
| collection | DOAJ |
| description | For the dynamic collision avoidance problem of an unmanned surface vehicle (USV), a dynamic collision avoidance control method based on an improved cuckoo search algorithm is proposed. The collision avoidance model for a USV and obstacles is established on the basis of the principle of the velocity obstacle method. Simultaneously, the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) is incorporated in the collision avoidance process. For the improvement of the cuckoo algorithm, the adaptive variable step-size factor is designed to realize the adaptive adjustment of flight step-size, and a mutation and crossover strategy is introduced to enhance the population diversity and improve the global optimization ability. The improved cuckoo search algorithm is applied to the collision avoidance model to obtain an optimal collision avoidance strategy. According to the collision avoidance strategy, the desired evasion trajectory is obtained, and the tracking controller based on PID is used for the Lanxin USV. The experimental results show the feasibility and effectiveness of the proposed collision avoidance method, which provides a solution for the autonomous dynamic collision avoidance of USVs. |
| first_indexed | 2024-03-10T06:44:18Z |
| format | Article |
| id | doaj.art-5af20cbcb74a48609f01de521478a11f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:44:18Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-5af20cbcb74a48609f01de521478a11f2023-11-22T17:23:37ZengMDPI AGApplied Sciences2076-34172021-10-011120974110.3390/app11209741Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search AlgorithmYunsheng Fan0Xiaojie Sun1Guofeng Wang2Dongdong Mu3Liaoning Province Key Laboratory of Technology and System for Intelligent Ships, College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaLiaoning Province Key Laboratory of Technology and System for Intelligent Ships, College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaLiaoning Province Key Laboratory of Technology and System for Intelligent Ships, College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaLiaoning Province Key Laboratory of Technology and System for Intelligent Ships, College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, ChinaFor the dynamic collision avoidance problem of an unmanned surface vehicle (USV), a dynamic collision avoidance control method based on an improved cuckoo search algorithm is proposed. The collision avoidance model for a USV and obstacles is established on the basis of the principle of the velocity obstacle method. Simultaneously, the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) is incorporated in the collision avoidance process. For the improvement of the cuckoo algorithm, the adaptive variable step-size factor is designed to realize the adaptive adjustment of flight step-size, and a mutation and crossover strategy is introduced to enhance the population diversity and improve the global optimization ability. The improved cuckoo search algorithm is applied to the collision avoidance model to obtain an optimal collision avoidance strategy. According to the collision avoidance strategy, the desired evasion trajectory is obtained, and the tracking controller based on PID is used for the Lanxin USV. The experimental results show the feasibility and effectiveness of the proposed collision avoidance method, which provides a solution for the autonomous dynamic collision avoidance of USVs.https://www.mdpi.com/2076-3417/11/20/9741unmanned surface vehicledynamic collision avoidanceimproved cuckoo searchtracking controller |
| spellingShingle | Yunsheng Fan Xiaojie Sun Guofeng Wang Dongdong Mu Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm Applied Sciences unmanned surface vehicle dynamic collision avoidance improved cuckoo search tracking controller |
| title | Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm |
| title_full | Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm |
| title_fullStr | Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm |
| title_full_unstemmed | Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm |
| title_short | Collision Avoidance Controller for Unmanned Surface Vehicle Based on Improved Cuckoo Search Algorithm |
| title_sort | collision avoidance controller for unmanned surface vehicle based on improved cuckoo search algorithm |
| topic | unmanned surface vehicle dynamic collision avoidance improved cuckoo search tracking controller |
| url | https://www.mdpi.com/2076-3417/11/20/9741 |
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