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Citation:
　Zhouhua Peng,Jianzhong Li,Bing Han,et al.Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents[J].Journal of Marine Science and Application,2023,(3):602-613.[doi:10.1007/s11804-023-00351-9]
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Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents

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Title:
Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents
Author(s):
Zhouhua Peng1; 2;  Jianzhong Li1; 2;  Bing Han3; 4;  Nan Gu1; 2
Affilations:
Author(s):
Zhouhua Peng1; 2;  Jianzhong Li1; 2;  Bing Han3; 4;  Nan Gu1; 2
1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China;
2. Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian 116026, China;
3. Shanghai Ship and Shipping Research Institute Co. Ltd., Shanghai 200135, China;
4. National Engineering Research Center of Ship & Shipping Control System, Shanghai 200135, China
Keywords:
Line-of-sight guidance; Constrained water region; Unmanned surface vehicle; Control barrier function; Extended state observer
分类号:
-
DOI:
10.1007/s11804-023-00351-9
Abstract:
The collision-free straight-line following of an unmanned surface vehicle (USV) moving in a constrained water region subject to stationary and moving obstacles is addressed in this paper. USV systems are normally subjected to surge velocity constraints, yaw rate constraints, and unknown ocean currents. Herein, a safety-certificated line-of-sight (LOS) guidance method is proposed to achieve a constrained straight-line following task. First, an antidisturbance LOS guidance law is designed based on the LOS guidance scheme and an extended state observer. Furthermore, collision avoidance with waterway boundaries and stationary/moving obstacles is encoded in control barrier functions, utilizing which the safety constraints are transformed into input constraints. Finally, safety-certificated guidance signals are obtained by solving a quadratic programming problem subject to input constraints. Using the proposed safety-certified LOS guidance method, the USV can accomplish a straight-line following task with guaranteed input-to-state safety. Simulation results substantiate the efficacy of the proposed safety-certificated LOS guidance method for the straight-line following of USVs moving in a constrained water region subject to unknown ocean currents.

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Memo

Memo:
Received date:2022-6-20;Accepted date:2023-1-8。
Foundation item:Supported by the National Key R&D Program of China under Grant No. 2022ZD0119902, the National Natural Science Foundation of China under Grant No. 51979020, the Top-notch Young Talents Program of China under Grant No. 36261402, the Dalian High-level Talents Innovation Support Program under Grant No. 2022RQ010, the Liaoning Revitalization Talents Program under Grant No. XLYC2007188, the Natural Science Foundation of Fujian Province under Grant No. 2022J01131710, the Postdoctoral Research Foundation of China under Grant No. 2022M720619, and in part by the Fundamental Research Funds for the Central Universities 3132023107.
Corresponding author:Nan Gu,E-mail:ngu@dlmu.edu.cn
Last Update: 2023-10-10