Open AccessCollision avoidance with control barrier function for target tracking of an unmanned underwater vehicle
Author(s) -
Zhicong Deng,
Mohammed Tousif Zaman,
Zhenzhong Chu
Publication year - 2020
Publication title -
underwater technology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.229
H-Index - 19
eISSN - 1756-0551
pISSN - 1756-0543
DOI - 10.3723/ut.37.003
Subject(s) - control theory (sociology) , collision avoidance , trajectory , cruise control , lyapunov function , tracking (education) , constraint (computer aided design) , computer science , process (computing) , collision , function (biology) , quadratic programming , control engineering , engineering , control (management) , mathematical optimization , mathematics , artificial intelligence , nonlinear system , mechanical engineering , psychology , pedagogy , physics , computer security , astronomy , quantum mechanics , evolutionary biology , biology , operating system
Unmanned underwater vehicles (UUVs) move in dynamic environments and need to avoid other non-cooperative obstacles while executing a task, such as tracking a target or a special trajectory. It is a challenge to avoid collisions with moving obstacles in the tracking process. The present paper describes the implementation of horizonplane adaptive cruise control, which follows a given desired trajectory using control Lyapunov functions while satisfying constraints specified by a control barrier function to avoid collision with obstacles. The Lyapunov function is treated as a soft constraint, and the barrier function as hard constraint for the UUV; both are satisfied simultaneously using quadratic programming. Finally, the present paper describes a simulation of avoiding moving obstacles while tracking a target, with the results showing this as effective and feasible.