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dc.contributor.authorZhou, Hongyu
dc.contributor.authorRen, Zhengru
dc.contributor.authorMarley, Mathias
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2023-01-31T13:21:08Z
dc.date.available2023-01-31T13:21:08Z
dc.date.created2022-11-03T21:05:22Z
dc.date.issued2022
dc.identifier.citationIEEE Transactions on Control Systems Technology. 2022, 30 (6), 2630-2645.en_US
dc.identifier.issn1063-6536
dc.identifier.urihttps://hdl.handle.net/11250/3047456
dc.description.abstractAutonomous marine vessels are expected to avoid intervessel collisions and comply with the international regulations for safe voyages. This article presents a stepwise path planning method using stream functions. The dynamic flow of fluids is used as a guidance model, where the collision avoidance in static environments is achieved by applying the circular theorem in the sink flow. We extend this method to dynamic environments by adding vortex flows in the flow field. The stream function is recursively updated to enable “on the fly” waypoint decisions. The vessel avoids collisions and also complies with several rules of the convention on the International Regulations for Preventing Collisions at Sea. The method is conceptually and computationally simple and convenient to tune and yet versatile to handle complex and dense marine traffic with multiple dynamic obstacles. The ship dynamics are taken into account, by using Bézier curves to generate a sufficiently smooth path with feasible curvature. Numerical simulations are conducted to verify the proposed method.en_US
dc.description.abstractA Guidance and Maneuvering Control System Design With Anti-Collision Using Stream Functions With Vortex Flows for Autonomous Marine Vesselsen_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.titleA Guidance and Maneuvering Control System Design With Anti-Collision Using Stream Functions With Vortex Flows for Autonomous Marine Vesselsen_US
dc.title.alternativeA Guidance and Maneuvering Control System Design With Anti-Collision Using Stream Functions With Vortex Flows for Autonomous Marine Vesselsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.source.pagenumber2630-2645en_US
dc.source.volume30en_US
dc.source.journalIEEE Transactions on Control Systems Technologyen_US
dc.source.issue6en_US
dc.identifier.doi10.1109/TCST.2022.3161844
dc.identifier.cristin2068956
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode2


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