Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2024 , Vol. 58 >Issue 11: 1644 - 1653

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2023.121

Naval Architecture, Ocean and Civil Engineering

Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control

  • HE Yu ,
  • OUYANG Zilu ,
  • ZOU Lu ,
  • CHEN Weimin ,
  • ZOU Zaojian
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  • 1. School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    2. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    3. Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai 200135, China

Received date: 2023-04-03

  Revised date: 2023-05-29

  Accepted date: 2023-07-03

  Online published: 2023-07-17

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Abstract

A model predictive control (MPC) method based on the vector field guidance law is proposed to improve the effectiveness of path following and collision avoidance for ships. First, the path following and collision-avoidance problems are transformed into heading-control problems by the vector field guidance law. Then, the first-order Nomoto response model is adopted as the ship dynamic model for the model predictive control. Considering the input limitation of the rudder angle, the disturbance observer is introduced to compensate the model error and the environmental disturbances. The stability of the designed path following control system is verified by the Lyapunov theory. Finally, a collision avoidance strategy based on the vector field guidance law is designed to enable the ship to avoid collision autonomously in the process of path following. The simulation results indicate that the proposed methods can make the ship track the target path accurately and realize collision avoidance under the impacts of wave disturbances.

Key words： ship path following; collision avoidance; model predictive control (MPC); vector field (VF) guidance law; disturbance observer

Cite this article

HE Yu , OUYANG Zilu , ZOU Lu , CHEN Weimin , ZOU Zaojian . Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control[J]. Journal of Shanghai Jiaotong University, 2024 , 58(11) : 1644 -1653 . DOI: 10.16183/j.cnki.jsjtu.2023.121

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