洋流干扰下无人船限制水域直线跟踪安全视距制导  

Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents

作　　者：彭周华 李建众 韩冰 古楠 Zhouhua Peng;Jianzhong Li;Bing Han;Nan Gu(School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026,China;Shanghai Ship and Shipping Research Institute Co.Ltd.,Shanghai 200135,China;National Engineering Research Center of Ship&Shipping Control System,Shanghai 200135,China)

机构地区：[1]School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China [2]Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026,China [3]Shanghai Ship and Shipping Research Institute Co.Ltd.,Shanghai 200135,China [4]National Engineering Research Center of Ship&Shipping Control System,Shanghai 200135,China

出　　处：《哈尔滨工程大学学报（英文版）》2023年第3期602-613,共12页Journal of Marine Science and Application

基　　金：Supported by the National Key R&D Program of China under Grant No.2022ZD0119902;the National Natural Science Foundation of China under Grant No.51979020;the Top-notch Young Talents Program of China under Grant No.36261402;the Dalian High-level Talents Innovation Support Program under Grant No.2022RQ010;the Liaoning Revitalization Talents Program under Grant No.XLYC2007188;the Natural Science Foundation of Fujian Province under Grant No.2022J01131710;the Postdoctoral Research Foundation of China under Grant No.2022M720619;in part by the Fundamental Research Funds for the Central Universities 3132023107.

摘　　要：The collision-free straight-line following of an unmanned surface vehicle(USV)moving in a constrained water region subject to stationary and moving obstacles is addressed in this paper.USV systems are normally subjected to surge velocity constraints,yaw rate constraints,and unknown ocean currents.Herein,a safety-certificated line-of-sight(LOS)guidance method is proposed to achieve a constrained straight-line following task.First,an antidisturbance LOS guidance law is designed based on the LOS guidance scheme and an extended state observer.Furthermore,collision avoidance with waterway boundaries and stationary/moving obstacles is encoded in control barrier functions,utilizing which the safety constraints are transformed into input constraints.Finally,safety-certificated guidance signals are obtained by solving a quadratic programming problem subject to input constraints.Using the proposed safety-certified LOS guidance method,the USV can accomplish a straight-line following task with guaranteed input-to-state safety.Simulation results substantiate the efficacy of the proposed safety-certificated LOS guidance method for the straight-line following of USVs moving in a constrained water region subject to unknown ocean currents.

关 键 词：Line-of-sight guidance Constrained water region Unmanned surface vehicle Control barrier function Extended state observer 

分 类 号：U666.1[交通运输工程—船舶及航道工程]