Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB

Lu, Yu; Zhang, Guoqing; Sun, Zhian; Zhang, Guoqing

doi:10.1007/s11071-018-4374-z

Cited by 102 publications

(51 citation statements)

References 47 publications

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“…Similarly, Lu et al. (2018c) also adopted the MLP algorithm together with the disturbance observer in their robust adaptive formation control scheme for USVs with leader–follower formation. Jin (2016) proposed a fault tolerant leader–follower formation control scheme for a group of ASVs with LOS range and angle constraints.…”

Section: Literature Reviewmentioning

confidence: 99%

Autonomous vessels: state of the art and potential opportunities in logistics

Góez

Guajardo

et al. 2020

Int Trans Operational Res

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The growth in technology on autonomous transportation systems is currently motivating a number of research initiatives. This paper first presents a survey of the literature on autonomous marine vessels in general. By identifying the main research interests in this field, we define 10 thematic categories. The collected articles are then classified according to these categories. We show that research on autonomous vessels has increased dramatically in the past decade. However, most of the published articles have focused on navigation control and safety issues. Studies regarding other topics, such as transport and logistics, are very limited. Although our main interest is the literature on autonomous vessels, we contrast its development with respect to the literature on autonomous cars so as to have a better understanding about the future potentials in the research on autonomous vessels. The comparison shows that there are great opportunities for research about transportation and logistics with autonomous vessels. Finally, several potential research areas regarding logistics with autonomous vessels are proposed. As the technology behind remote‐controlled or autonomous ships is maturing rapidly, we believe that it is already time for researchers in the field to start looking into future water‐borne transport and logistics using autonomous vessels.

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Section: Literature Reviewmentioning

confidence: 99%

Autonomous vessels: state of the art and potential opportunities in logistics

Góez

Guajardo

et al. 2020

Int Trans Operational Res

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“…Lu et al (2018b) developed a distributed robust formation controller, based on directed graph theories, backstepping and the minimal learning parameter (MLP) algorithm, to handle the leader-follower control problem of ASVs in the presence of external uncertainties. Similarly, Lu et al (2018c) also adopted the MLP algorithm together with the disturbance observer in their robust adaptive formation control scheme for USVs with leader-follower formation. Jin 2016 Makhsoos et al (2018) and Khare and Singh (2012) focused on hybrid energy system design for USVs.…”

Section: • Group Controlmentioning

confidence: 99%

Autonomous Vessels: State of the Art and Potential Opportunities in Logistics

Góez

Guajardo

et al. 2019

SSRN Journal

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The growth in technology on autonomous transportation systems is currently motivating a number of research initiatives. This paper first presents a survey of the literature on autonomous marine vessels in general. By identifying the main research interests in this field, we define nine thematic categories. The collected articles are then classified according to these categories. We show that research on autonomous vessels has increased dramatically in the past decade. However, most of the published articles have focused on navigation control and safety issues. Studies regarding other topics, such as transport and logistics, are very limited. While our main interest is the literature on autonomous vessels, we contrast its development with respect to the literature on autonomous cars so as to have a better understanding about the future potentials in the research on autonomous vessels. The comparison shows that there are great opportunities for research about transportation and logistics with autonomous vessels. Finally, several potential research areas regarding logistics with autonomous vessels are proposed. As the technology behind remote-controlled or autonomous ships is maturing rapidly, we believe that it is already time for researchers in the field to start looking into future water-borne transport and logistics using autonomous vessels.

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“…Tam et al (2009) and Fişkin et al (2018) also adopted this method. The problem of avoiding collision by path-following control has been widely studied (Xargay et al, 2013; Lu et al, 2018; Zhang et al, 2018a, 2018b; Qin et al, 2019; Xu et al, 2019). The neural network method has been successfully used in dynamic collision avoidance with low real-time requirements (Liu et al, 2019; Huang et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Dynamic Collision Avoidance Algorithm for Unmanned Surface Vehicles via Layered Artificial Potential Field with Collision Cone

Wei

Huang

et al. 2020

J. Navigation

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A dynamic collision avoidance algorithm via layered artificial potential field with collision cone (LAPF-CC) is proposed to overcome the shortcomings of the traditional artificial potential field method in dynamic collision avoidance. In order to reduce invalid actions for collision avoidance, the potential field is divided into four layers, and a collision cone with risk detection function is introduced. Relative distance and relative velocity are used as variables to establish the risk of collision, and a torque named ‘speed torque’ is constructed. Speed torque, attractive force and repulsive force work together to change the speed and heading of the unmanned surface vehicle (USV). Driving force and torque are controlled separately, which makes it possible for the LAPF-CC algorithm to be used for real-time collision avoidance control of underactuated USVs. Simulation results show that the LAPF-CC algorithm performs well in dynamic collision avoidance.

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Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB

Cited by 102 publications

References 47 publications

Autonomous vessels: state of the art and potential opportunities in logistics

Autonomous vessels: state of the art and potential opportunities in logistics

Autonomous Vessels: State of the Art and Potential Opportunities in Logistics

Dynamic Collision Avoidance Algorithm for Unmanned Surface Vehicles via Layered Artificial Potential Field with Collision Cone

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