Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle

Gonzalez-Garcia, A.; Collado-Gonzalez, I.; Cuan-Urquizo, R.; Sotelo, C.; Sotelo, D.; Castañeda, H.

doi:/10.1016/j.oceaneng.2022.112900

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Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle

Gonzalez-Garcia, A.; Collado-Gonzalez, I.; Cuan-Urquizo, R.; Sotelo, C.; Sotelo, D.; Castañeda, H. (2022). Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle. Ocean Eng. 266(Part 3): 112900. https://dx.doi.org/10.1016/j.oceaneng.2022.112900

In: Ocean Engineering. Pergamon: Elmsford. ISSN 0029-8018; e-ISSN 1873-5258, meer

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Author keywords

Autonomous surface vehicle; Nonlinear model predictive control; Obstacle avoidance

Auteurs		Top
Gonzalez-Garcia, A. Collado-Gonzalez, I. Cuan-Urquizo, R.	Sotelo, C. Sotelo, D. Castañeda, H.

Abstract

This paper presents a path-following and collision avoidance system for autonomous surface vehicles based on nonlinear model predictive control. The proposed strategy is capable of following a desired path while maintaining a commanded velocity, whereas it can diverge from the references to safely perform maneuvers to elude unexpected obstacles. A nonlinear dynamic model of the vehicle is applied to predict the vehicle states into a finite horizon. Furthermore, a LiDAR sensor located at the front of the boat is employed for local object detection. Here, the high-performance optimal control framework, acados, is used to solve the optimization problem onboard. Real-time numerical simulations and field experiments demonstrate the effectiveness of the proposed approach against multiple buoys.

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