A guidance and maneuvering control system design with anti-collision using stream functions with vortex flows for autonomous marine vessels

  title={A guidance and maneuvering control system design with anti-collision using stream functions with vortex flows for autonomous marine vessels},
  author={Hongyu Zhou and Zhengru Ren and Mathias Marley and Roger Skjetne},
—Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids is used as a guidance model, where the collision avoidance in static environments is achieved by applying the circular theorem in the sink flow. We extend this method to dynamic environments by adding vortex flows in the flow field. The stream function is… 


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The algorithm not only addresses collision avoidance for stationary and moving hazards, but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGS, for COLlision REGulationS).
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This article explores nonlinear feedback terms for both the kinematic and kinetic control loops for 3 degrees-of-freedom pose and velocity control of ships through simulations and model-scale experiments in an ocean basin.
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A reactive collision avoidance method for autonomous surface vehicles based on control barrier functions (CBFs) that is seen to handle head-on, overtaking and crossing situations with both give-way and stand-on duty in compliance with COLREGs rules 13-15 and 17.