scholarly journals Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Modelin the Presence of Static Obstacles

2021 ◽  
Vol 9 (6) ◽  
pp. 652
Author(s):  
Haitong Xu ◽  
Miguel A. Hinostroza ◽  
C. Guedes Guedes Soares
Keyword(s):  
Control System ◽  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Integrated System ◽  
Ship Model ◽  
Surface Ship ◽  
Path Following Control ◽  
Exponentially Stable ◽  
Vector Field Method

A modified path-following control system using the vector field method for an underactuated autonomous surface ship model is proposed in the presence of static obstacles. With this integrated system, autonomous ships are capable of following the predefined path, while avoiding the obstacles automatically. It is different from the methods in most published papers, which usually study path-following and obstacle collision avoidance, separately. This paper considers the coupled path following and collision avoidance task as a whole. Meanwhile, the paper also shows the heading control design method in the presence of static obstacles. To obtain a strong stability property, a nonlinear autopilot is designed based on the manoeuvring tests of the free-running ship model. The equilibrium point of the controller is globally exponentially stable. For the guidance system, a novel vector field method was proposed, and the proof shows the coupled guidance and control system is uniform semi-global exponentially stable (USGES). To prevent the obstacles near the predefined path, the proposed guidance law is augmented by integrating the repelling field of obstacles so that it can control the ship travel toward the predefined path through the obstacles safely. The repelling field function is given considering the obstacle shape and collision risk using the velocity obstacle (VO) algorithm. The simulations and ship model test were performed to validate the integrated system of autonomous ships.

Vector Field Guidance Law for Curved Path Following of an Underactuated Autonomous Ship Model

2020 ◽  
Vol 162 (A3) ◽  
Author(s):  
Haitong Xu ◽  
C Guedes Soares
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Least Square ◽  
Support Vector ◽  
Ship Model ◽  
Guidance Law ◽  
Surface Ship ◽  
Autonomous Ship ◽  
Vector Field Guidance

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto’s model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of underactuated surface ships.

VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL

2021 ◽  
Vol 162 (A3) ◽  
Author(s):  
Haitong Xu ◽  
C Guedes Soares
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Least Square ◽  
Support Vector ◽  
Ship Model ◽  
Guidance Law ◽  
Surface Ship ◽  
Autonomous Ship ◽  
Vector Field Guidance

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto’s model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of underactuated surface ships.

Path following control system for a tanker ship model

2007 ◽  
Vol 34 (14-15) ◽  
pp. 2074-2085 ◽  
Author(s):  
Lúcia Moreira ◽  
Thor I. Fossen ◽  
C. Guedes Soares
Keyword(s):  
Control System ◽  
Path Following ◽  
Ship Model ◽  
Path Following Control

scholarly journals A vector field method for relativistic transport equations with applications

2017 ◽  
Vol 10 (7) ◽  
pp. 1539-1612 ◽  
Author(s):  
David Fajman ◽  
Jérémie Joudioux ◽  
Jacques Smulevici
Keyword(s):  
Vector Field ◽  
Field Method ◽  
Transport Equations ◽  
Vector Field Method

Vector field path-following control for a small unmanned ground vehicle with Kalman filter estimation

2020 ◽  
pp. 095440542097734
Author(s):  
Yun-Ping Sun ◽  
Yen-Chu Liang
Keyword(s):  
Kalman Filter ◽  
Vector Field ◽  
Design Method ◽  
Path Following ◽  
Labor Cost ◽  
Design Parameters ◽  
Ground Vehicles ◽  
Level Control ◽  
Path Following Control ◽  
And Control

Industry 4.0 accelerates the growth of unmanned technology that reduces the labor cost and creates high automation in manufacturing system. The automated guided vehicle which is capable of transferring materials or executing tasks without human intervention becomes a necessary system for modern unmanned factories. The study explores the guidance and control design to accomplish the common task of path-following control for unmanned ground vehicles (UGV). A complete design method is presented that includes the lateral-directional autopilot, the vector field guidance for path-following, and multi-sensor fusion. The lateral-directional autopilot produces the low-level control action, the higher level guidance indicates the course direction of UGV at every spatial point based on the lateral path error, and the accurate UGV position relies on the estimate obtained by dynamically fusing sensors with extended Kalman filter. The design parameters in every stage are analyzed theoretically first and then fine-tuned in practice. The process is clearly described in this study, and the field test results are discussed in details to verify the performance of the proposed method and demonstrate the superiority over others.

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