LSDA-APF: A LOCAL OBSTACLE AVOIDANCE ALGORITHM FOR UNMANNED SURFACE VEHICLES BASED ON 5G COMMUNICATION ENVIRONMENT

摘要

IN VIEW OF THE COMPLEX MARINE ENVIRONMENT OF NAVIGATION, ESPECIALLY IN THE CASE OF MULTIPLE STATIC AND DYNAMIC OBSTACLES, THE TRADITIONAL OBSTACLE AVOIDANCE ALGORITHMS APPLIED TO UNMANNED SURFACE VEHICLES (USV) ARE PRONE TO FALL INTO THE TRAP OF LOCAL OPTIMIZATION. THEREFORE, THIS PAPER PROPOSES AN IMPROVED ARTIFICIAL POTENTIAL FIELD (APF) ALGORITHM, WHICH USES 5G COMMUNICATION TECHNOLOGY TO COMMUNICATE BETWEEN THE USV AND THE CONTROL CENTER. THE ALGORITHM INTRODUCES THE USV DISCRIMINATION MECHANISM TO AVOID THE USV FALLING INTO LOCAL OPTIMIZATION WHEN THE USV ENCOUNTER DIFFERENT OBSTACLES IN DIFFERENT SCENARIOS. CONSIDERING THE VARIOUS SCENARIOS BETWEEN THE USV AND OTHER DYNAMIC OBSTACLES SUCH AS VESSELS IN THE PROCESS OF PERFORMING TASKS, THE ALGORITHM INTRODUCES THE CONCEPT OF DYNAMIC ARTIFICIAL POTENTIAL FIELD. FOR THE MULTIPLE OBSTACLES ENCOUNTERED IN THE PROCESS OF USV SAILING, BASED ON THE INTERNATIONAL REGULATIONS FOR PREVENTING COLLISIONS AT SEA (COLREGS), THE USV DETERMINES WHETHER THE NEXT STEP WILL FALL INTO LOCAL OPTIMIZATION THROUGH THE DISCRIMINATION MECHANISM. THE LOCAL POTENTIAL FIELD OF THE USV WILL DYNAMICALLY ADJUST, AND THE REVERSE VIRTUAL GRAVITATIONAL POTENTIAL FIELD WILL BE ADDED TO PREVENT IT FROM FALLING INTO THE LOCAL OPTIMIZATION AND AVOID COLLISIONS. THE OBJECTIVE FUNCTION AND COST FUNCTION ARE DESIGNED AT THE SAME TIME, SO THAT THE USV CAN SMOOTHLY SWITCH BETWEEN THE GLOBAL PATH AND THE LOCAL OBSTACLE AVOIDANCE. THE SIMULATION RESULTS SHOW THAT THE IMPROVED APF ALGORITHM PROPOSED IN THIS PAPER CAN SUCCESSFULLY AVOID VARIOUS OBSTACLES IN THE COMPLEX MARINE ENVIRONMENT, AND TAKE NAVIGATION TIME AND ECONOMIC COST INTO ACCOUNT.