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A Simultaneous Planning and Control Method Integrating APF and MPC to Solve Autonomous Navigation for USVs in Unknown Environments

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Abstract

This paper is devoted to solving autonomous navigation for unmanned surface vessels (USVs) in unknown environments. To overcome the deficiency of the “first planning then tracking” motion control framework, a novel simultaneous planning and control (SPC) method is developed. The developed method combines an improved artificial potential field (IAPF) and model predictive control (MPC) techniques. Improvements in the IAPF are made to deal with constraints on angular velocity. In each step of the SPC method, the IAPF is used for robust and efficient tracking in a short future. And the MPC is implemented to generate actual control commands for high-precision tracking. The IAPF and the MPC work in an alternative way to drive the USV to the prescribed target while avoiding the obstacles detected around. Simulations with static and dynamic obstacles demonstrate the effectiveness of the proposed method. The method works well when maneuvering in complex environments even crossing narrow tunnels.

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Funding

The authors are grateful for the National Key Research and Development Plan (2019YFB1706502); the National Natural Science Foundation of China (12102077, 62003366); the Fundamental Research Funds for the Central Universities (DUT22RC(3)010).

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Authors and Affiliations

  1. Department of Engineering Mechanics, State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, 116024, Liaoning, China

    Xinwei Wang & Haijun Peng

  2. War Research Institute, Academy of Military Sciences, Beijing, 100850, China

    Jie Liu

  3. Baimtec Materials Co., Ltd, No. 5 Yongxiang North Road, Haidian District, 100094, Beijing, China

    Xiwang Qie

  4. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, China

    Xudong Zhao

  5. School of Reliability and Systems Engineering, Beihang University, Beijing, 100191, China

    Chen Lu

Authors
  1. Xinwei Wang
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  2. Jie Liu
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  3. Haijun Peng
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  4. Xiwang Qie
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  5. Xudong Zhao
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  6. Chen Lu
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Contributions

Wang X and Liu J contributed to project conceptualisation. Wang X, Peng H and Zhao X built the model. Wang X, Qie X and Lu C designed the scenario settinsgs. Wang X and Liu J wrote the manuscript. Liu J, Qie X and Lu C edited the manuscript. Liu J supervised the project. All authors approved the manuscript.

Corresponding author

Correspondence to Jie Liu.

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Wang, X., Liu, J., Peng, H. et al. A Simultaneous Planning and Control Method Integrating APF and MPC to Solve Autonomous Navigation for USVs in Unknown Environments. J Intell Robot Syst 105, 36 (2022). https://doi.org/10.1007/s10846-022-01663-8

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  • DOI: https://doi.org/10.1007/s10846-022-01663-8

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