An Intelligent Collision Avoidance Design for Unmanned Surface Vessels

An intelligent collision avoidance design which possesses abilities of a precise trajectory tracking and a collision free property for unmanned surface vessels is investigated in this paper. This proposed control system provides an effective mean for letting controlled unmanned surface vessels be able to execute given tasks by following collision free trajectories under influences of modelling uncertainties and ocean environmental disturbances. For eliminating effects of modelling uncertainties and ocean environmental disturbances, a compensator is developed. Furthermore, the required robust control commands are perfectly performed by a pair of rotatable propellers. Besides, for the purpose of rapidly generating an optimal collision free trajectory, a rapid image searching method is developed to cooperate with a continuous trajectory generator. One demonstration is examined for validating the control performance of this proposed control system.