文章基本信息

标题：Potential-field constructions in an MPC framework: application for safe navigation in a variable coastal environment
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作者：N.Q.H. Tran ; I. Prodan ; E.I. Grøtli 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：20
页码：307-312
DOI：10.1016/j.ifacol.2018.11.049
语种：English
出版社：Elsevier
摘要：AbstractThis work presents an NMPC (Nonlinear Model Predictive Control)-based algorithm for safe navigation of multi-agent dynamical systems in a variable environment with fixed or moving obstacles. The contribution lies in the construction of repulsive potential fields for the fixed and moving obstacles which are introduced in a predictive control optimization problem to penalize collision. The constraints are activated only in the view range of the agent using on-off barrier functions. Collision-free motion planning of ships in Trondheim fjord harbor serves as a benchmark for testing our algorithm. Some scenarios are simulated in order to prove the efficiency of the algorithm and its feasibility to run in real-time.
关键词：KeywordsFixed/Moving obstacles avoidanceNMPC (Nonlinear Model Predictive Control)Potential field constructionsOn-off barrier functionsASV (Autonomous surface vehicles)