Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations

Conference paper (2022)

Authors

B. Du Harbin Engineering University, Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering , Shanghai Jiao Tong University
Bin Lin Shanghai Jiao Tong University, Hainan University
Wei Xie Shanghai Jiao Tong University, Harbin Engineering University
Weidong Zhang Hainan University, Shanghai Jiao Tong University
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Y. Pang Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 B. Du, Bin Lin, Wei Xie, Weidong Zhang, R.R. Negenborn, Y. Pang
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

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.