Cooperative path planning with priority target assignment and collision avoidance guidance for rescue unmanned surface vehicles in a complex ocean environment |
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Affiliation: | 1. Technische Universität Berlin, Germany;2. Hermann-Rietschel-Institut, Technische Universität Berlin, Berlin Germany;3. Leibniz University Hannover, Germany;1. College of Civil Engineering, Central South University, Changsha 410075, China;2. State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha 410083, China;3. China Railway Construction Heavy Industry Co. Ltd, Changsha 410100, China;4. Key Laboratory of Shield Tunneling and Tunneling Tool Technology in Jilin Province, Jilin Welter Tunnel Equipment Co., Ltd, Jilin 132299, China;1. School of Mechanical Engineering, Yanshan University, Qinhuangdao City, Hebei, PR China;2. Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada |
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Abstract: | In this paper, a novel cooperative path planning scheme of unmanned surface vehicles (USVs) for rescuing targets in a complex ocean environment is proposed. The primary objective of the rescue USVs is to bring all targets back safely on the premise of first rescuing priority targets, while optimizing the path length, the navigation time and the angular energy. The main contributions of this paper are as follows: (1) The proposed K-means-division (KMD) algorithm is able to identify a complex ocean environment with collision-free zone and static-obstacles zone; (2) The proposed path planning method with fast-marching-method-based ellipse guidance range (E-FMM) is able to optimize the angular energy while ensuring safety; (3) The proposed cooperative management system (including priority-target-assignment (PTA) with reward-mechanism genetic-optimization (RM-GO) and collision-avoidance (CA) guidance law with Tangent-based surge-varying wave-disturbances-observer (Tangent-SV-WDO)) can accomplish the mission of the rescue USVs. Comparative studies with the state-of-the-art methods demonstrate that the proposed cooperative path planning scheme is superior in terms of priority-target-assignment (PTA) and collision-avoidance (CA) of the actual rescue work. |
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Keywords: | Cooperative path planning Complex ocean environment Priority-target-assignment Collision-avoidance guidance law Rescue unmanned surface vehicles |
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