Real-time collision avoidance maneuvers for spacecraft proximity operations via discrete-time Hamilton–Jacobi theory

Lee, Kwangwon; Park, Chandeok; Eun, Youngho

doi:10.1016/j.ast.2018.04.010

Cited by 11 publications

(2 citation statements)

References 13 publications

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“…The two levels were combined to adjust the speed and direction of the unmanned vessel. A proper penalty function field has been proposed in Lee et al (2018) to be optimal collision-free transfers in real time, improving the efficiency of the obstacle avoidance model. Some workers have paid attention to adaptive prediction and feedback learning for enhancing the performance of obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

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Research on Real-Time Obstacle Avoidance Planning for an Unmanned Surface Vessel based on the Grid Cell Mechanism

Zheng

2020

J. Navigation

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Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%