Robust adaptive dynamic surface control for synchronized path following of multiple underactuated autonomous underwater vehicles

Local Path Planning of USV Based on Millimeter Wave Radar

“…The rationality and safety of the USV avoiding obstacles in actual navigation are improved. The literature [3] designed a hybrid fuzzy and IAPF (improved artificial potential field) obstacle avoidance algorithm based on scanning sonar by combining the IAPF and fuzzy logic control, which can not only overcome the inherent defects of the TAPF (traditional artificial potential field), and can guide the USV to leave the unknown sea area with complex obstacle distribution. The literature [4] predicts the trajectory of obstacles and uses the evaluation function to select the optimal obstacle avoidance area and the corresponding speed to avoid obstacles in time.…”

“…In the above studies, the output of the USV obstacle avoidance algorithm in the literatures [1][2][3][4] is the expected heading, which is a reactive collision avoidance method and is the optimal judgment for collision avoidance at the current moment, and its trajectory optimization is difficult to guarantee. The literatures [5][6][7][8] only considers simulation verification in simple scenarios, ignoring the shape and size of the USV and obstacles, and the actual reliability is difficult to guarantee.…”