Near-field reactive obstacle-avoidance for USV

Pingpeng Tang; Liang Qiao; Rubo Zhang

Near-field reactive obstacle-avoidance for USV

Pingpeng Tang^*
, Liang Qiao
, Rubo Zhang

^*Corresponding author for this work

College of Computer Science and Technology, Harbin Engineering University
Guangdong University of Finance

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

The paper proposed a new kind near-field reactive obstacle-avoidance method of unmanned surface vehicle (USV). Firstly, the dynamic window was calculated according to the kinetic of USV, obstacles were dealt by using curve-based method at second step, the multi-objective constraint optimization problem of behavior choosing was transferred into a single-objective constraint optimization problem, and an optimization behavior was obtained by fast searching of dynamic window in the end. At last, experiments verify that the method is fast, stable and reliable, and could be met the mission of USV which realizing the fast obstacle avoidance in complicated environment in the sea.

Original language	English
Pages (from-to)	400-402+406
Journal	Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)
Volume	39
Issue number	SUPPL. 2
State	Published - Nov 2011
Externally published	Yes

Keywords

Curve-method
Dynamic window method
Near-field obstacle-avoidance
Objective-optimization
The complicated environment of sea
USV (unmanned surface vehicle)

Cite this

@article{3a156f7c397545d0a8f198b398111d8a,

title = "Near-field reactive obstacle-avoidance for USV",

abstract = "The paper proposed a new kind near-field reactive obstacle-avoidance method of unmanned surface vehicle (USV). Firstly, the dynamic window was calculated according to the kinetic of USV, obstacles were dealt by using curve-based method at second step, the multi-objective constraint optimization problem of behavior choosing was transferred into a single-objective constraint optimization problem, and an optimization behavior was obtained by fast searching of dynamic window in the end. At last, experiments verify that the method is fast, stable and reliable, and could be met the mission of USV which realizing the fast obstacle avoidance in complicated environment in the sea.",

keywords = "Curve-method, Dynamic window method, Near-field obstacle-avoidance, Objective-optimization, The complicated environment of sea, USV (unmanned surface vehicle)",

author = "Pingpeng Tang and Liang Qiao and Rubo Zhang",

year = "2011",

month = nov,

language = "英语",

volume = "39",

pages = "400--402+406",

journal = "Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)",

issn = "1671-4512",

publisher = "Huazhong University of Science and Technology",

number = "SUPPL. 2",

}

TY - JOUR

T1 - Near-field reactive obstacle-avoidance for USV

AU - Tang, Pingpeng

AU - Qiao, Liang

AU - Zhang, Rubo

PY - 2011/11

Y1 - 2011/11

N2 - The paper proposed a new kind near-field reactive obstacle-avoidance method of unmanned surface vehicle (USV). Firstly, the dynamic window was calculated according to the kinetic of USV, obstacles were dealt by using curve-based method at second step, the multi-objective constraint optimization problem of behavior choosing was transferred into a single-objective constraint optimization problem, and an optimization behavior was obtained by fast searching of dynamic window in the end. At last, experiments verify that the method is fast, stable and reliable, and could be met the mission of USV which realizing the fast obstacle avoidance in complicated environment in the sea.

AB - The paper proposed a new kind near-field reactive obstacle-avoidance method of unmanned surface vehicle (USV). Firstly, the dynamic window was calculated according to the kinetic of USV, obstacles were dealt by using curve-based method at second step, the multi-objective constraint optimization problem of behavior choosing was transferred into a single-objective constraint optimization problem, and an optimization behavior was obtained by fast searching of dynamic window in the end. At last, experiments verify that the method is fast, stable and reliable, and could be met the mission of USV which realizing the fast obstacle avoidance in complicated environment in the sea.

KW - Curve-method

KW - Dynamic window method

KW - Near-field obstacle-avoidance

KW - Objective-optimization

KW - The complicated environment of sea

KW - USV (unmanned surface vehicle)

UR - https://www.scopus.com/pages/publications/82055171384

M3 - 文章

AN - SCOPUS:82055171384

SN - 1671-4512

VL - 39

SP - 400-402+406

JO - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)

JF - Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)

IS - SUPPL. 2

ER -

Near-field reactive obstacle-avoidance for USV

Abstract

Keywords

Other files and links

Fingerprint

Cite this