Abstract
This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free trajectories for the vehicle to track. To steer the vehicle towards and stay within the neighborhood of the generated collision-free trajectory, a nonlinear model predictive controller is designed. Experimental results are presented to validate the efficiency of proposed method, showing that the unmanned surface vehicle is able to track the leader ship without colliding with the surrounded static obstacles in the considered experiments.
| Original language | English |
|---|---|
| Title of host publication | Proceedings 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Publisher | IEEE |
| Pages | 6854-6860 |
| ISBN (Print) | 978-1-6654-7927-1 |
| DOIs | |
| Publication status | Published - 2022 |
| Event | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022): IROS 2022 - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 |
Conference
| Conference | The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) |
|---|---|
| Abbreviated title | IROS 2022 |
| Country/Territory | Japan |
| City | Kyoto |
| Period | 23/10/22 → 27/10/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
