Collision Avoidance Strategy for Unmanned Surface Vessel Considering Actuator Faults Using Kinodynamic Rapidly Exploring Random Tree-Smart and Radial Basis Function Neural Network-Based Model Predictive Control

Collision Avoidance Strategy for Unmanned Surface Vessel Considering Actuator Faults Using Kinodynamic Rapidly Exploring Random Tree-Smart and Radial Basis Function Neural Network-Based Model Predictive Control

Path planning and tracking are essential technologies for unmanned surface vessels (USVs). The kinodynamic constraints and actuator faults, however, bring difficulties in finding feasible paths and control efforts. This paper proposes a collision avoidance strategy for USV by developing the kinodyna...

Full description

Bibliographic Details
Main Authors: Yunxuan Song, Yimin Chen, Jian Gao, Yazhou Wang, Guang Pan
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Journal of Marine Science and Engineering
Subjects:
path planning
unmanned surface vessel
learning-based MPC
fault-tolerance strategy
Online Access:https://www.mdpi.com/2077-1312/11/6/1107

Internet

https://www.mdpi.com/2077-1312/11/6/1107

Similar Items