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Online Collision Avoidance Based on Modified Velocity Obstacle Approach for Unmanned Surface Vehicles
Leng J(冷静); Liu J(刘健); Xu HL(徐红丽)
作者部门海洋信息技术装备中心
会议名称International Conference on Electrical, Control and Automation (ICECA)
会议日期FEB 22-23, 2014
会议地点Shanghai, PEOPLES R CHINA
会议录名称INTERNATIONAL CONFERENCE ON ELECTRICAL, CONTROL AND AUTOMATION (ICECA 2014)
出版者DESTECH PUBLICATIONS, INC
出版地LANCASTER
2014
页码112-120
收录类别CPCI(ISTP)
WOS记录号WOS:000337527200016
产权排序1
ISBN号978-1-60595-152-2
摘要This paper presents an algorithm for online obstacle avoidance of Unmanned Surface Vehicles (USVs) to navigate safely in dynamic, sophisticated environments of oceans. The proposed algorithm is based on modified velocity obstacle which applies encounter situation judgment and decision-making of autonomy hazard avoidance of ship, which also take COLREGS into account. It utilized the advantages of rapidity of computations, which is well suited for embedded system of robotic applications. The algorithm is demonstrated via simulation with more safety and acclimation in sophisticated environments of oceans.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15133
专题海洋信息技术装备中心
作者单位1.University of Chinese Academy of Sciences
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Leng J,Liu J,Xu HL. Online Collision Avoidance Based on Modified Velocity Obstacle Approach for Unmanned Surface Vehicles[C]. LANCASTER:DESTECH PUBLICATIONS, INC,2014:112-120.
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