Paper Info
Title
A Robust Reactive Static Obstacle Avoidance System for Surface Marine Vehicles.
Abstract
This paper is centered on the guidance systems used to increase the autonomy of unmanned surface vehicles (USVs). The new Robust Reactive Static Obstacle Avoidance System (RRSOAS) has been specifically designed for USVs. This algorithm is easily applicable, since previous knowledge of the USV mathematical model and its controllers is not needed. Instead, a new estimated closed-loop model (ECLM) is proposed and used to estimate possible future trajectories. Furthermore, the prediction errors (due to the uncertainty present in the ECLM) are taken into account by modeling the USV's shape as a time-varying ellipse. Additionally, in order to decrease the computation time, we propose to use a variable prediction horizon and an exponential resolution to discretize the decision space. As environmental model an occupancy probability grid is used, which is updated with the measurements generated by a LIDAR sensor model. Finally, the new RRSOAS is compared with other SOA (static obstacle avoidance) methods. In addition, a robustness study was carried out over a set of random scenarios. The results obtained through numerical simulations indicate that RRSOAS is robust to unknown and congested scenarios in the presence of disturbances, while offering competitive performance with respect to other SOA methods.
Year
DOI
Venue
2020
10.3390/s20216262
SENSORS
Keywords
DocType
Volume
unmanned surface vehicle,autonomous navigation,static obstacle avoidance,LIDAR sensor modeling,occupancy probability grid,exponential discretization,estimated closed-loop model,repulsive forces,random scenario generation,unknown and congested scenarios
Journal
20
Issue
ISSN
Citations 
21
1424-8220
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Rafael Guardeño100.68
Manuel J López200.34
Jesús Sánchez300.34
Alberto González400.34
Agustín Consegliere500.34