文章基本信息

标题：Multi-ASV Motion Planning for Formation Reconfiguration based on Control Barrier Functions
本地全文：下载
作者：Yanping Xu ; Lu Liu ; Yibo Yin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：3
页码：223-227
DOI：10.1016/j.ifacol.2022.05.039
语种：English
出版社：Elsevier
摘要：This paper addresses motion planning problem of multiple autonomous surface vehicles (ASVs) for formation reconfiguration subject to static obstacles. The motion planning problem include two objectives. The first objective is to generate feasible control signals toward a goal region considering the vehicle kinematics. The second objective is to avoid collisions with static obstacles in the sea environment, and neighboring ASVs in the group. To address it, a nominal guidance law is designed to achieve the goal reaching task. Control barrier functions are used to enforce the input constraints to avoid collision avoidance. The optimal motion is obtained by solving a quadratic program. Simulation results are given to substantiate the efficacy of the proposed multi-ASV motion planning method for formation reconfiguration missions.
关键词：Autonomous surface vehiclesmotion planningformation reconfigurationcontrol barrier functions