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Published in:
2021 | OriginalPaper | Chapter
Study on Static Obstacles Avoidance Using Advanced Set-Based Guidance with Velocity Obstacle for Unmanned Surface Vehicles
Authors : Minh-Hung Vu, Ngoc-Huy Tran, Minh-Tam Phan
Publisher: Springer International Publishing
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Abstract
In hazardous conditions, the use of an autonomous unmanned surface vessel (USV) may be a solution to an obstacle avoidance problem with minimal human intervention but maximal efficiency. This article describes a method of utilizing Velocity Obstacle algorithm to enhance collision-free paths of Set-Based Guidance (SBG) for USV equipped with Light Detection and Ranging (LiDAR) for detecting obstacles. Additionally, we also propose a novel trapezium path with three waypoints instead of a single waypoint as conventional SBG. Moreover, we build a hardware architecture for USV to realize the obstacle avoidance algorithm in pratice. To verify safety, efficacy, and pragmatics, simulations are conducted in situations of static obstacles. Finally, experiments with a real static obstacle are carried out and experimental results prove that the advanced SBG is able to guide USV to avoid collision autimatically.