Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window

Pingpeng Tang; Rubo Zhang; Deli Liu; Qijie Zou; Changting Shi

doi:10.1109/CCDC.2012.6244200

Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window

Pingpeng Tang^*
, Rubo Zhang
, Deli Liu
, Qijie Zou
, Changting Shi

^*Corresponding author for this work

College of Computer Science and Technology, Harbin Engineering University
Beijing University of Posts and Telecommunications

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Scopus citations

Abstract

The paper proposes a new kind of near-field reactive obstacle-avoidance method for USV. First, the dynamic window (DW) of USV is calculated according to the kinetic characteristics. Heading window and translational velocity window are obtained by using "divide and conquer" strategy dealing with the dynamic window of USV. At second step, the constraint from obstacles are analyzed by using tangent method, and the excellent navigation angle can be gotten by solving the constraints problem of direction angle, the output rotational velocity of USV can be grasped by navigation angle and heading angle. After then, the translational velocity should be received by the model of translational velocity of USV, which is formed by rotational velocity and the distribution of obstacles. At last, experiments demonstrate that the algorithm is fast, stable and power of suitability, and could satisfy the mission of USV in complicated environment.

Original language	English
Title of host publication	Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012
Pages	1262-1267
Number of pages	6
DOIs	https://doi.org/10.1109/CCDC.2012.6244200
State	Published - 2012
Externally published	Yes
Event	2012 24th Chinese Control and Decision Conference, CCDC 2012 - Taiyuan, China Duration: 23 May 2012 → 25 May 2012

Publication series

Name	Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012

Conference

Conference	2012 24th Chinese Control and Decision Conference, CCDC 2012
Country/Territory	China
City	Taiyuan
Period	23/05/12 → 25/05/12

Keywords

"Divide and Conquer" Strategy
Dynamic Window method
Heading Window
Near-Field Obstacle-Avoidance
Tangent-Method
USV(Unmanned Surface Vehicle)

Access to Document

10.1109/CCDC.2012.6244200

Cite this

Tang, P., Zhang, R., Liu, D., Zou, Q., & Shi, C. (2012). Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window. In Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012 (pp. 1262-1267). Article 6244200 (Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012). https://doi.org/10.1109/CCDC.2012.6244200

@inproceedings{09bf970430684f44851f6bc95a71d296,

title = "Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window",

abstract = "The paper proposes a new kind of near-field reactive obstacle-avoidance method for USV. First, the dynamic window (DW) of USV is calculated according to the kinetic characteristics. Heading window and translational velocity window are obtained by using {"}divide and conquer{"} strategy dealing with the dynamic window of USV. At second step, the constraint from obstacles are analyzed by using tangent method, and the excellent navigation angle can be gotten by solving the constraints problem of direction angle, the output rotational velocity of USV can be grasped by navigation angle and heading angle. After then, the translational velocity should be received by the model of translational velocity of USV, which is formed by rotational velocity and the distribution of obstacles. At last, experiments demonstrate that the algorithm is fast, stable and power of suitability, and could satisfy the mission of USV in complicated environment.",

keywords = "{"}Divide and Conquer{"} Strategy, Dynamic Window method, Heading Window, Near-Field Obstacle-Avoidance, Tangent-Method, USV(Unmanned Surface Vehicle)",

author = "Pingpeng Tang and Rubo Zhang and Deli Liu and Qijie Zou and Changting Shi",

year = "2012",

doi = "10.1109/CCDC.2012.6244200",

language = "英语",

isbn = "9781457720727",

series = "Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012",

pages = "1262--1267",

booktitle = "Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012",

note = "2012 24th Chinese Control and Decision Conference, CCDC 2012 ; Conference date: 23-05-2012 Through 25-05-2012",

}

Tang, P, Zhang, R, Liu, D, Zou, Q & Shi, C 2012, Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window. in Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012., 6244200, Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012, pp. 1262-1267, 2012 24th Chinese Control and Decision Conference, CCDC 2012, Taiyuan, China, 23/05/12. https://doi.org/10.1109/CCDC.2012.6244200

Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window. / Tang, Pingpeng; Zhang, Rubo; Liu, Deli et al.
Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012. 2012. p. 1262-1267 6244200 (Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window

AU - Tang, Pingpeng

AU - Zhang, Rubo

AU - Liu, Deli

AU - Zou, Qijie

AU - Shi, Changting

PY - 2012

Y1 - 2012

N2 - The paper proposes a new kind of near-field reactive obstacle-avoidance method for USV. First, the dynamic window (DW) of USV is calculated according to the kinetic characteristics. Heading window and translational velocity window are obtained by using "divide and conquer" strategy dealing with the dynamic window of USV. At second step, the constraint from obstacles are analyzed by using tangent method, and the excellent navigation angle can be gotten by solving the constraints problem of direction angle, the output rotational velocity of USV can be grasped by navigation angle and heading angle. After then, the translational velocity should be received by the model of translational velocity of USV, which is formed by rotational velocity and the distribution of obstacles. At last, experiments demonstrate that the algorithm is fast, stable and power of suitability, and could satisfy the mission of USV in complicated environment.

AB - The paper proposes a new kind of near-field reactive obstacle-avoidance method for USV. First, the dynamic window (DW) of USV is calculated according to the kinetic characteristics. Heading window and translational velocity window are obtained by using "divide and conquer" strategy dealing with the dynamic window of USV. At second step, the constraint from obstacles are analyzed by using tangent method, and the excellent navigation angle can be gotten by solving the constraints problem of direction angle, the output rotational velocity of USV can be grasped by navigation angle and heading angle. After then, the translational velocity should be received by the model of translational velocity of USV, which is formed by rotational velocity and the distribution of obstacles. At last, experiments demonstrate that the algorithm is fast, stable and power of suitability, and could satisfy the mission of USV in complicated environment.

KW - "Divide and Conquer" Strategy

KW - Dynamic Window method

KW - Heading Window

KW - Near-Field Obstacle-Avoidance

KW - Tangent-Method

KW - USV(Unmanned Surface Vehicle)

UR - https://www.scopus.com/pages/publications/84866666942

U2 - 10.1109/CCDC.2012.6244200

DO - 10.1109/CCDC.2012.6244200

M3 - 会议稿件

AN - SCOPUS:84866666942

SN - 9781457720727

T3 - Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012

SP - 1262

EP - 1267

BT - Proceedings of the 2012 24th Chinese Control and Decision Conference, CCDC 2012

T2 - 2012 24th Chinese Control and Decision Conference, CCDC 2012

Y2 - 23 May 2012 through 25 May 2012

ER -

Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window

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Keywords

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