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2025 , Vol. 30 >Issue 6: 1255 - 1264

DOI: https://doi.org/10.1007/s12204-023-2674-z

Transportation Systems

Autonomous Navigation Algorithm for Underactuated Unmanned Surface Vehicle Based on Model Predictive Control

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  • Navigation College, Jimei University, Xiamen 361021, Fujian, China

Received date: 2022-11-10

  Accepted date: 2023-05-24

  Online published: 2023-12-01

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Abstract

To achieve the track following and collision avoidance of underactuated unmanned surface vehicle (USV), autonomous navigation model based on model predictive control is established by including the track offset, speed variation and rule compliance as the evaluation functions and including the ship domain of dynamic/ static navigation obstacles and the mechanical characteristics limitation as constraints. The effectiveness of the model for autonomous navigation of USV in the situation of multi-ship encounters and in the complex waters with both dynamic and static obstructions is verified by several groups of simulation work. The simulation results show that the proposed model can realize the autonomous navigation of the underactuated USV under the complex waters.

Cite this article

CHEN Guoquan, LI Yuqin, HUANG Zike, YANG Shenhua . Autonomous Navigation Algorithm for Underactuated Unmanned Surface Vehicle Based on Model Predictive Control[J]. Journal of Shanghai Jiaotong University(Science), 2025 , 30(6) : 1255 -1264 . DOI: 10.1007/s12204-023-2674-z

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