Show simple item record

dc.contributor.authorTran, Ngo-Quoc-Huy
dc.contributor.authorProdan, Ionela
dc.contributor.authorGrøtli, Esten Ingar
dc.contributor.authorLefevre, Laurent
dc.date.accessioned2023-09-20T10:35:09Z
dc.date.available2023-09-20T10:35:09Z
dc.date.created2021-02-01T13:42:53Z
dc.date.issued2020
dc.identifier.issn0029-8018
dc.identifier.urihttps://hdl.handle.net/11250/3090772
dc.description.abstractThis paper deals with the motion planning problem for surface vehicles in the presence of varying environmental disturbances. The goal is to steer the vehicles from an initial to a final destination while ensuring connectivity and avoiding collision with fixed and moving obstacles. The novelty lies in the coherent combination among various ingredients for path generation and potential field constructions for collision avoidance and connectivity maintenance, all gathered in a distributed NMPC (Nonlinear Model Predictive Control) framework: i) LOS (Line-of-Sight) guidance and RRT* (optimal Rapidly-exploring Random Tree) algorithms are employed for generating a collision-free path considering static surroundings; ii) on-off barrier functions activate the proposed potential field components which are in the view range of the agents, hence ensuring safe navigation in a dynamic coastal environment with a low computation demand; iii) a NDO (Nonlinear Disturbance Observer) is integrated in the NMPC design to compensate the environmental disturbances. The proposed algorithm is validated through simulations and comparisons carried out over a benchmark for USVs (Unmanned Surface Vehicles) safe navigation in the Trondheim fjord, Norway.en_US
dc.language.isoengen_US
dc.publisherElsevier Ltd.en_US
dc.titleSafe navigation in a coastal environment of multiple surface vehicles under uncertainties: A combined use of potential field constructions and NMPCen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© 2020 Elsevier Ltd. All rights reserved.en_US
dc.source.pagenumber56en_US
dc.source.volume216en_US
dc.source.journalOcean Engineeringen_US
dc.identifier.doihttps://doi.org/10.1016/j.oceaneng.2020.107706
dc.identifier.cristin1885057
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.fulltextpostprint
cristin.qualitycode1


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record