Autonomous collision avoidance method for inland river unmanned vessels based on backward reachable set

Jie Liu; Wei Zhu; Jinsong Luo; Shijun Chen; Tao Yu

doi:10.1117/12.3054571

20 December 2024 Autonomous collision avoidance method for inland river unmanned vessels based on backward reachable set

Jie Liu, Wei Zhu, Jinsong Luo, Shijun Chen, Tao Yu

Author Affiliations +

Proceedings Volume 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024); 134211H (2024) https://doi.org/10.1117/12.3054571
Event: Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 2024, Dalian, China

Abstract

This paper constructs a safe area model for unmanned vessels based on the concept of Backward Reachable Set, and combines Backward Reachable Set and model predictive control to carry out research on autonomous collision avoidance for unmanned vessels in inland river scenarios. Taking the relative position and relative dynamics system of the vessel and the target vessel as inputs, the calculated Backward Reachable Set is regarded as the dynamic safety region of the vessel, and the model predictive control (MPC) is utilized to inject the Backward Reachable Set into the low-level controller in advance through the high-level design of the preset trajectory, which enables the vessel to complete autonomous collision avoidance in a safe and effective manner, while not approaching excessively to the target vessel, and avoids the failure of decision-making in the extreme scenarios. The concept of Backward Reachable Set is introduced on the basis of the existing obstacle avoidance methods, considering the uncertain environment in the inland navigation scenario, and the practicality of the method is verified through model analysis and scenario experiments, which provides a new idea for the subsequent research on autonomous obstacle avoidance methods for inland waterway vessels.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jie Liu, Wei Zhu, Jinsong Luo, Shijun Chen, and Tao Yu "Autonomous collision avoidance method for inland river unmanned vessels based on backward reachable set", Proc. SPIE 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 134211H (20 December 2024); https://doi.org/10.1117/12.3054571

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KEYWORDS

Safety

Collision avoidance

Switching

Control systems

Convex optimization

Device simulation

Modeling

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