A rapid solution method for surface unmanned vessels motion planning problem based on optimal control

Yousheng Hu; Lei Sun; Qingnian Zhang; Yaping Ma; Kai Yi

doi:10.1117/12.3024824

14 February 2024 A rapid solution method for surface unmanned vessels motion planning problem based on optimal control

Yousheng Hu, Lei Sun, Qingnian Zhang, Yaping Ma, Kai Yi

Proceedings Volume 13018, International Conference on Smart Transportation and City Engineering (STCE 2023); 1301819 (2024) https://doi.org/10.1117/12.3024824
Event: International Conference on Smart Transportation and City Engineering (STCE 2023), 2023, Chongqing, China

Abstract

Unmanned Surface Vehicle (USV) technology has been widely applied in various fields, due to the nonlinear, multiconstraint, high-dimensional nature of motion planning problems, as well as the dynamic characteristics of USV movement and the uncertainty of the environment, solving USV motion planning problems is highly complex and has an unpredictable failure rate. This paper focuses on the motion planning problem of surface USVs and studies the solution methods based on the optimal control model in modern control theory. By introducing the trapezoidal collocation method from the direct method, the optimal control formula describing the entire USV motion planning problem is fully discretized into a largescale non-linear programming problem (NLP), which is then quickly solved using an interior-point solver. In random scenario simulation experiments with different ship interaction conditions, the motion planning algorithm's solution time is within 250ms, basically meeting the practical engineering requirements. The highlights of this paper are as follows: 1. The optimal control method is used to ensure that the output control input is suitable for the USV power chassis; 2. The direct method is used to fully discretize the problem, transforming the optimal control problem, which essentially seeks the functional extremum in infinite space, into a NLP that can be quickly solved using mature mathematical tools to meet the low-latency requirements of USV working conditions; 3. The adoption of trapezoidal collocation discretization ensures that the constraints describing the control system in NLP are all first-order algebraic terms and their linear combinations, guaranteeing the low difficulty of solving NLP and effectively reducing the failure rate to within 10%.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yousheng Hu, Lei Sun, Qingnian Zhang, Yaping Ma, and Kai Yi "A rapid solution method for surface unmanned vessels motion planning problem based on optimal control", Proc. SPIE 13018, International Conference on Smart Transportation and City Engineering (STCE 2023), 1301819 (14 February 2024); https://doi.org/10.1117/12.3024824

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
14 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Control systems

Motion models

Matrices

Design

Computer simulations

Complex systems

Direct methods

Show All Keywords

Keywords/Phrases

Search In:

Publication Years