期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2019
卷号：29
期号：4
页码：1-10
DOI：10.2478/amcs-2019-0056
出版社：De Gruyter Open
摘要：In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains.
Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human
errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this
paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained
convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the
optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and
to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To
show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.
关键词：unmanned surface vehicles; obstacle avoidance; control allocation; constrained convex optimization
