Collision avoidance, guidance and control system for autonomous surface vehicles in complex navigation conditions

2018 ◽  
pp. 121-131 ◽  
Author(s):  
M.A. Hinostroza
Keyword(s):  
Control System ◽  
Collision Avoidance ◽  
Guidance And Control ◽  
Autonomous Surface Vehicles ◽  
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.

scholarly journals VILNIUS ADVANCED-SURFACE MOVEMENT GUIDANCE AND CONTROL SYSTEM (A-SMGCS) SAFETY OBJECTIVES / VILNIAUS AERODROMO AUTOMATIZUOTOS ANTŽEMINIO EISMO STEBĖJIMO IR KONTROLĖS SISTEMOS SAUGOS TIKSLŲ ANALIZĖ

Aviation ◽  
2012 ◽  
Vol 16 (4) ◽  
pp. 130-135
Author(s):  
Vaidotas Kondroška ◽  
Jonas Stankūnas
Keyword(s):  
Control System ◽  
System Analysis ◽  
Flight Safety ◽  
Frequency Of Occurrence ◽  
Surface Movement ◽  
Safety Requirements ◽  
Methods Of Determination ◽  
Guidance And Control ◽  
System A ◽  
And Control

This work reviews the innovative and progressive methods of determination and analysis of safety objectives using Vilnius A-SMGCS example. The aim of the analysis is to determine how failures in this system could affect flight safety in Vilnius aerodrome. Identified safety objectives will limit the frequency of occurrence of hazards enough for the associated risk to be acceptable, and will ensure that appropriate mitigation means are reflected subsequently as Safety Requirements for the system. Analysis reflects aspects of A-SMGCS Safety objectives, which should be taken into consideration. Santrauka Darbe apžvelgiami progresyvūs saugos tikslų analizės metodai pagal Vilniaus aerodromo automatizuotos antžeminio eismo stebėjimo ir kontrolės sistemos veiklos pavyzdį. Analizuojama, kaip šios sistemos sutrikimai gali paveikti skrydžių saugą Vilniaus aerodrome. Remiantis galimų pavojų skrydžių saugai analize, tyrime nustatyti saugos tikslai, pagal kuriuos vėliau bus numatomos riziką mažinančios priemonės (galimų pavojų neutralizavimui ar kylančios rizikos sumažinimui iki priimtino lygio). Straipsnyje pateikiami veiksniai, kuriuos reikėtų įvertinti nustatant aerodromo automatizuotos antžeminio eismo stebėjimo ir kontrolės sistemos saugos tikslus.

Integrated guidance and control of interceptors with impact angle constraint against a high-speed maneuvering target

2019 ◽  
Vol 233 (14) ◽  
pp. 5192-5204
Author(s):  
Guanjie Hu ◽  
Jianguo Guo ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
High Speed ◽  
Control Method ◽  
Impact Angle ◽  
Adaptive Sliding Mode Control ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint

An integrated guidance and control method is investigated for interceptors with impact angle constraint against a high-speed maneuvering target. Firstly, a new control-oriented model with impact angle constraint of the integrated guidance and control system is built in the pitch plane by combining the engagement kinematics and missile dynamics model between the interceptor and target. Secondly, the flight path angle of the target is estimated by extended Kalman filter in order to transform the terminal impact angle constraint into the terminal line-of-sight angle constraint. Thirdly, a nonlinear adaptive sliding mode control law of the integrated guidance and control system is designed in order to directly obtain the rudder deflection command, which eliminates time delay caused by the traditional backstepping control method. Then the Lyapunov stability theory is used to prove the stability of the whole closed-loop integrated guidance and control system. Finally, the simulation results confirm that the integrated guidance and control method proposed in this paper can effectively improve the interception performance of the interceptor to a high-speed maneuvering target.

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