Collision avoidance guidance and control scheme for vector propulsion unmanned surface vehicle with disturbance

2021 ◽  
Vol 115 ◽  
pp. 102799
Author(s):  
Xiaojie Sun ◽  
Guofeng Wang ◽  
Yunsheng Fan
Keyword(s):  
Collision Avoidance ◽  
Unmanned Surface Vehicle ◽  
Guidance And Control ◽  
Control Scheme ◽  
And Control

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

Modeling, parameter identification, guidance and control of an unmanned surface vehicle with experimental results

2021 ◽  
Vol 241 ◽  
pp. 110038
Author(s):  
Helmi Abrougui ◽  
Samir Nejim ◽  
Saber Hachicha ◽  
Chiheb Zaoui ◽  
Habib Dallagi
Keyword(s):  
Parameter Identification ◽  
Experimental Results ◽  
Unmanned Surface Vehicle ◽  
Guidance And Control ◽  
And Control

Basic navigation, guidance and control of an Unmanned Surface Vehicle

2008 ◽  
Vol 25 (4) ◽  
pp. 349-365 ◽  
Author(s):  
Massimo Caccia ◽  
Marco Bibuli ◽  
Riccardo Bono ◽  
Gabriele Bruzzone
Keyword(s):  
Unmanned Surface Vehicle ◽  
Guidance And Control ◽  
And Control

scholarly journals An Advanced Guidance and Control System for an Unmanned Vessel with Azimuthal Thrusters

2018 ◽  
Author(s):  
M Bibuli ◽  
Ga Bruzzone ◽  
Gi Bruzzone ◽  
M Caccia ◽  
G Camporeale ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Control Strategies ◽  
Vertical Axis ◽  
Control Loop ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Regulation Scheme ◽  
Control Scheme ◽  
Constrained Environments ◽  
And Control

The proposed paper presents the design and development of the combined guidance and control strategies for the autonomous navigation of an unmanned vessel characterized by azimuth-based thrust architecture. Autonomous Marine Vehicles (AMVs) are consolidates technological tools commonly employed for different tasks such as exploration, sampling and intervention. With the final aim of autonomous shipping, the capabilities of AMVs have to be migrated and adapted towards the reliable and safe control of commercial-like unmanned vessel, that are taking place thanks to a number of technological research projects. The employment of new concept hulls and thrust configurations, as for instance Small Waterplane Area Twin Hull (SWATH) combined with Azimuthal propulsion (common propeller-based thruster with the capability of 360◦ rotation around the vertical axis), requires robust guidance techniques to provide precise and reliable motion control during navigation. The paper proposes a dual-loop guidance and control scheme able to provide advanced navigation capabilities. In particular, the inner control loop, devoted to the actuation of the azimuthal thrusters, allows the tracking of reference course angle (namely the autopilot). Such a control loop is characterized by a modified PID regulation scheme, where a novel adaptive derivative component is inserted in order to improve the convergence curve towards the required course reference. The outer guidance loop, based on Lyapunov/virtual-target approach, allows the vessel to track generic desired paths, thus enhancing the autonomous navigation capabilities also in constrained environments. The paper will provide a deep design and analysis approach for the developed techniques, as well as simulation results of the combined guidance and control scheme, proving the reliability of the proposed approach in different operative conditions. Experimental results will be provided, depending on the availability of the actual autonomous vessel (currently under final development/test phases and related to the specific project activities). 

Active disturbance rejection guidance and control scheme for homing missiles with impact angle constraints

2018 ◽  
Vol 233 (3) ◽  
pp. 1133-1146
Author(s):  
Jian Hua Wang ◽  
Yuan Wen Cai ◽  
Long Cheng ◽  
Yan Li ◽  
Chao Jun Xin ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Three Dimensional ◽  
Impact Angle ◽  
Degree Of Freedom ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Control Scheme ◽  
Homing Missiles ◽  
Six Degree Of Freedom ◽  
And Control

An active disturbance rejection guidance and control scheme for homing missiles with three-dimensional impact angle constraints is proposed. The six-degree-of-freedom dynamical and kinematical models containing model uncertainties and disturbances are established. A strict feedback relative dynamics between the target and homing missile in three-dimensional space are deduced. A reconstructed reduced-order attitude controller design model is proposed. A two-loop control structure with respect to the centroid guidance loop and rotational control loop is conducted to implement the six-degree-of-freedom guidance and control system with the help of second-order sliding mode approach and extended state observers. The tracking loop of the Euler angles of the missile can be elided and the number of six-degree-of-freedom control parameters can be reduced. Finally, the effectiveness and robustness of the newly proposed guidance and control scheme are investigated and verified via six-degree-of-freedom nonlinear simulation studies.

Guidance and control of an unmanned surface vehicle exhibiting sternward motion

2012 Oceans ◽  
2012 ◽  
Author(s):  
A. S. Gadre ◽  
C. Sonnenburg ◽  
S. Du ◽  
D. J. Stilwell ◽  
C. Woolsey
Keyword(s):  
Unmanned Surface Vehicle ◽  
Guidance And Control ◽  
And Control

scholarly journals Decentralized Mesh-Based Model Predictive Control for Swarms of UAVs

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4324
Author(s):  
Salvatore Rosario Bassolillo ◽  
Egidio D’Amato ◽  
Immacolata Notaro ◽  
Luciano Blasi ◽  
Massimiliano Mattei
Keyword(s):  
Model Predictive Control ◽  
Unmanned Aerial Vehicles ◽  
Predictive Control ◽  
Control Strategy ◽  
Target Area ◽  
Guidance And Control ◽  
Aerial Vehicles ◽  
Control Scheme ◽  
And Control ◽  
Numerical Simulator

This paper deals with the design of a decentralized guidance and control strategy for a swarm of unmanned aerial vehicles (UAVs), with the objective of maintaining a given connection topology with assigned mutual distances while flying to a target area. In the absence of obstacles, the assigned topology, based on an extended Delaunay triangulation concept, implements regular and connected formation shapes. In the presence of obstacles, this technique is combined with a model predictive control (MPC) that allows forming independent sub-swarms optimizing the formation spreading to avoid obstacles and collisions between neighboring vehicles. A custom numerical simulator was developed in a Matlab/Simulink environment to prove the effectiveness of the proposed guidance and control scheme in several 2D operational scenarios with obstacles of different sizes and increasing number of aircraft.

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