相关论文: COLREGs Compliant Collision Avoidance and Groundin…

This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13-17 of the International Regulations for Preventing Collisions at Sea (COLREGs). The COLAV system…

The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…

Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…

The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…

The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…

The integration of Maritime Autonomous Surface Ships (MASS) into global maritime operations represents a transformative shift in the shipping industry, promising enhanced safety, efficiency, and cost-effectiveness. However, the widespread…

This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional…

To enhance the safety of Maritime Autonomous Surface Ships (MASS) navigating in restricted waters, this paper aims to develop a geometric analysis-based route safety assessment (GARSA) framework, specifically designed for their route…

This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…

To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

The encounter situation between marine vessels determines how they should navigate to obey COLREGs, but time-varying and stochastic uncertainty in estimation of angles of encounter, and of closest point of approach, easily give rise to…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

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…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

Lane changing in dense traffic is a significant challenge for Connected and Autonomous Vehicles (CAVs). Existing lane change controllers primarily either ensure safety or collaboratively improve traffic efficiency, but do not consider these…

Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…

In the real world, unmanned surface vehicles (USV) often need to coordinate with each other to accomplish specific tasks. However, achieving cooperative control in multi-agent systems is challenging due to issues such as non-stationarity…

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…