Real-time Collision Avoidance Control for Unmanned Surface Vehicle Based on Velocity Resolution Method

Unmanned Surface Vehicles (USVs), as a kind of unmanned platform on the water, need to be applied to a variety of complex maritime tasks with flexible maneuverability. In order to cope with the above problems, the development of a real-time collision avoidance control system has become an important part of USV research. Based on the principle of velocity resolution, the paper improves the velocity obstacle method, and designs a real-time collision avoidance control system combined with the controller. Simulation experiments show that the system has millisecond level real-time performance and control error compensation capability, which can provide a reference for the research of collision avoidance technology about USV.