Obstacle avoidance and trajectory optimisation for an autonomous vessel utilising MILP path planning, computer vision based perception and feedback control
Vittorio Garofano (TU Delft - Transport Engineering and Logistics)
M. Hepworth (TU Delft - Transport Engineering and Logistics)
R. Shahin (Student TU Delft)
Yusong Pang (TU Delft - Transport Engineering and Logistics)
R. R. Negenborn (TU Delft - Transport Engineering and Logistics)
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Abstract
In this study, we investigated autonomous vessel obstacle avoidance using advanced techniques within the Guidance, Navigation, and Control (GNC) framework. We propose a Mixed Integer Linear Programming (MILP) based Guidance system for robust path planning avoiding static and dynamic obstacles. For Navigation, we suggest a multi-modal neural network for perception, demonstrating the identification of obstacle type, position, and orientation using imaging sensors. Additionally, the paper compares an error-based PID control strategy and a Model Predictive Control (MPC) scheme as well. This evaluation aids in better evaluating their performance and determining their applicability within the GNC scheme. We detail the implementation of these systems, present simulation results, and offer a performance evaluation using an experimental dataset. Our findings, analysed through qualitative discussion and quantitative performance indicators, contribute to advancements in autonomous navigation and the control strategies to achieve it.
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