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Paper details
Number 4 - December 2019
Volume 29 - 2019
An automatic collision avoidance algorithm for multiple marine surface vehicles
Ramdane Hedjar, Messaoud Bounkhel
Abstract
In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains.
Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human
errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this
paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained
convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the
optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and
to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To
show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.
Keywords
unmanned surface vehicles, obstacle avoidance, control allocation, constrained convex optimization