A Balanced Collision Avoidance Algorithm for USVs in Complex Environment: A Deep Reinforcement Learning Approach
IEEE Transactions on Intelligent Transportation Systems,
Год журнала:
2024,
Номер
25(12), С. 21404 - 21415
Опубликована: Окт. 23, 2024
Язык: Английский
Optimal Coverage Path Planning for UAV-Assisted Multiple USVs: Map Modeling and Solutions
Drones,
Год журнала:
2025,
Номер
9(1), С. 30 - 30
Опубликована: Янв. 5, 2025
With
the
increasing
demand
for
marine
monitoring,
use
of
coverage
path
planning
based
on
unmanned
aerial
vehicle
(UAV)
images
to
assist
multiple
surface
vehicles
(USVs)
has
shown
great
potential
in
applications.
However,
achieving
accurate
map
modeling
and
optimal
are
still
key
challenges
that
restrict
its
widespread
application.
To
this
end,
an
innovative
algorithm
UAV-assisted
USVs
is
proposed.
First,
a
semantic
segmentation
YOLOv5-assisted
prompting
segment
anything
model
(SAM)
designed
establish
model.
By
refining
axial,
length,
width,
coordinate
information
obstacles,
enables
YOLOv5
generate
object
bounding
box
prompts
then
assists
SAM
automatically
accurately
extracting
obstacles
coastlines
complex
scenes.
Based
model,
multi-objective
stepwise
optimization
further
The
divides
complete
into
two
parts,
straight
paths
turning
paths,
both
length
number
turns
designed,
respectively,
optimize
each
type
step
by
step,
which
significantly
improves
effect.
Experiments
prove
various
scenarios,
proposed
achieves
100%
coverage,
redundancy
rate
less
than
2%,
it
superior
existing
advanced
algorithms
turns.
This
research
provides
feasible
technical
solution
efficient
tasks
lays
foundation
supervision.
Язык: Английский
Cooperative Formation Control of Multiple Ships with Time Delay Conditions
Journal of Marine Science and Engineering,
Год журнала:
2025,
Номер
13(3), С. 549 - 549
Опубликована: Март 12, 2025
The
cooperative
control
of
multiple
autonomous
surface
vehicles
(ASVs)
is
a
critical
area
research
due
to
its
significant
applications
in
maritime
operations,
such
as
search
and
rescue
environmental
monitoring.
However,
challenges
communication
delays
dynamic
topologies
often
hinder
stable
practical
scenarios.
This
study
addresses
these
by
developing
formation
method
based
on
consensus
theory,
focusing
both
time
delay.
First,
simplified
ASV
characteristic
model
established,
basic
algorithm
designed
analyzed
for
stability,
considering
different
topologies.
Then,
handle
delays,
the
extended,
stability
revised
rigorously
proven
using
Lyapunov
function.
Simulation
results
demonstrate
that
proposed
strategy
effectively
maintains
formations,
even
presence
delays.
In
end,
comparative
simulations
are
carried
out
effectiveness
robustness
controller.
with
convergence
approximately
100
s
error
stabilizing
at
around
7
m.
lays
foundation
more
reliable
systems
ships,
potential
variety
systems.
Язык: Английский
Convex Optimization-Based Adaptive Neural Network Control for Unmanned Surface Vehicles Considering Moving Obstacles
Journal of Marine Science and Engineering,
Год журнала:
2025,
Номер
13(3), С. 587 - 587
Опубликована: Март 17, 2025
This
article
addresses
the
challenge
of
designing
obstacle
avoidance
control
strategies
for
unmanned
ship
systems
operating
in
environments
with
moving
obstacles
and
unmodeled
dynamics.
First,
we
utilize
an
enhanced
artificial
potential
field
method
to
generate
real-time
paths
that
allow
ships
avoid
effectively,
overcoming
design
challenges
posed
by
obstacles.
Next,
incorporate
convex
optimization
techniques
create
a
novel
adaptive
neural
network
strategy
aimed
at
tackling
dynamic
uncertainties
systems.
Finally,
present
simulation
results
demonstrate
effectiveness
proposed
strategy.
Язык: Английский
Terminal Line-of-Sight Angle-Constrained Target Tracking Guidance for Unmanned Surface Vehicles
IEEE Transactions on Vehicular Technology,
Год журнала:
2024,
Номер
73(9), С. 12515 - 12529
Опубликована: Апрель 16, 2024
This
paper
investigates
a
Terminal
Line-of-Sight
Angle-Constrained
Target
Tracking
Guidance
(TLATT)
for
Unmanned
Surface
Vehicles
(USVs).
Dynamic
target
tracking
technology
has
wide
application
potential
in
fields
such
as
maritime
rescue,
countering
illegal
fishing,
border
and
coastal
defense.
These
tasks
always
necessitate
the
USVs
intercepting
with
specified
(LOS)
angle.
In
majority
of
existing
moving
methodologies,
constraints
associated
terminal
LOS
angle
have
not
been
comprehensively
studied.
Addressing
these
issues,
guidance,
constrained
by
angle,
is
presented
to
guide
defender
specific
direction.
context
general
problem,
definitions
errors
precisely
explained
within
inertial
frame.
Then,
relative
acceleration
derived
employing
back-stepping
mathematical
induction.
The
course
control
strategy,
formulated
incorporating
both
distance
into
acceleration,
developed
horizontal
plane.
Distinct
from
approaches
that
employ
switching
logics
satisfy
constraints,
our
proposed
guidance
integrates
unified
framework,
resulting
enhanced
accuracy
robustness
dynamic
scenarios.
results
simulations
indicate
method
can
successfully
restrain
distances
decrease.
effectiveness
verified
via
experimental
results.
Язык: Английский
Trajectory Tracking with Obstacle Avoidance for Nonholonomic Mobile Robots with Diamond-Shaped Velocity Constraints and Output Performance Specifications
Sensors,
Год журнала:
2024,
Номер
24(14), С. 4636 - 4636
Опубликована: Июль 17, 2024
In
this
paper,
we
address
the
trajectory-/target-tracking
and
obstacle-avoidance
problem
for
nonholonomic
mobile
robots
subjected
to
diamond-shaped
velocity
constraints
predefined
output
performance
specifications.
The
proposed
scheme
leverages
adaptive
control
dynamically
adjust
user-defined
specifications,
ensuring
compliance
with
input
safety
constraints.
A
key
feature
of
approach
is
integration
multiple
into
a
single
function,
governed
by
simple
law.
Additionally,
introduce
robust
estimator
priori-determined
attributes
reconstruct
unmeasured
trajectory/target
velocity.
Finally,
validate
effectiveness
robustness
scheme,
through
extensive
simulations
real-world
experiment.
Язык: Английский
Intelligent towing and pushing system for unmanned tugboats under wind and wave disturbances
Ships and Offshore Structures,
Год журнала:
2024,
Номер
unknown, С. 1 - 14
Опубликована: Июнь 12, 2024
Intelligent
unmanned
tugboats
have
the
potential
to
significantly
improve
efficiency
of
barge
manipulation.
This
paper
investigates
kinetic
modelling,
optimal
force
distribution,
and
cooperative
control
within
tugboat
towing
pushing
system.
A
practical
model
for
system
has
been
developed,
precisely
taking
into
account
factors
like
physical
cable
forces
disturbances
caused
by
wind
waves
in
turbulent
sea
conditions.
Following
this,
an
allocation
approach
is
investigated
allocate
desired
determine
angles.
Furthermore,
a
predicted
strategy
proposed
dual
tugboats'
systems.
aims
ensure
quickly
reaches
its
designated
location,
maintaining
heading
velocity.
Simulation
results
indicate
that
can
collaboratively
tow
push
unpowered
specified
location
with
speed.
Язык: Английский