Dynamic obstacle avoidance of unmanned ship based on event-triggered adaptive nonlinear model predictive control
This article studies trajectory tracking and dynamic obstacle avoidance problems of unmanned ships, and an event-triggered adaptive nonlinear model predictive control (EANMPC) method is constructed to solve the above problems. Firstly, a novel adaptive nonlinear model predictive control is used to t...
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| Published in | Ocean engineering Vol. 286; p. 115626 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
15.10.2023
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0029-8018 1873-5258 |
| DOI | 10.1016/j.oceaneng.2023.115626 |
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| Abstract | This article studies trajectory tracking and dynamic obstacle avoidance problems of unmanned ships, and an event-triggered adaptive nonlinear model predictive control (EANMPC) method is constructed to solve the above problems. Firstly, a novel adaptive nonlinear model predictive control is used to track the trajectory of the unmanned ship. And then, an obstacle avoidance mechanism is formulated to deal with the condition of dynamic obstacles that appear during the unmanned ship trajectory tracking process. Secondly, an event-triggered mechanism is established to reduce the computational burden of the controller. Finally, several simulation results are provided for demonstrating the effectiveness and advantage of EANMPC.
•A novel event-triggered mechanism for unmanned ship trajectory tracking is proposed.•A novel dynamic obstacle avoidance mechanism of the unmanned ship is designed.•A novel adaptive MPC method with event-triggered mechanism is proposed.•A method can reduce calculation times and adapt to parameters change is designed. |
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| AbstractList | This article studies trajectory tracking and dynamic obstacle avoidance problems of unmanned ships, and an event-triggered adaptive nonlinear model predictive control (EANMPC) method is constructed to solve the above problems. Firstly, a novel adaptive nonlinear model predictive control is used to track the trajectory of the unmanned ship. And then, an obstacle avoidance mechanism is formulated to deal with the condition of dynamic obstacles that appear during the unmanned ship trajectory tracking process. Secondly, an event-triggered mechanism is established to reduce the computational burden of the controller. Finally, several simulation results are provided for demonstrating the effectiveness and advantage of EANMPC.
•A novel event-triggered mechanism for unmanned ship trajectory tracking is proposed.•A novel dynamic obstacle avoidance mechanism of the unmanned ship is designed.•A novel adaptive MPC method with event-triggered mechanism is proposed.•A method can reduce calculation times and adapt to parameters change is designed. |
| ArticleNumber | 115626 |
| Author | Zhu, Yakun Guo, Ge Li, Shilong Bai, Jianguo |
| Author_xml | – sequence: 1 givenname: Shilong surname: Li fullname: Li, Shilong – sequence: 2 givenname: Yakun surname: Zhu fullname: Zhu, Yakun email: zyk@neuq.edu.cn – sequence: 3 givenname: Jianguo surname: Bai fullname: Bai, Jianguo – sequence: 4 givenname: Ge orcidid: 0000-0003-4752-4920 surname: Guo fullname: Guo, Ge |
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| CitedBy_id | crossref_primary_10_1016_j_ejcon_2024_101133 crossref_primary_10_1016_j_oceaneng_2024_119014 crossref_primary_10_3390_fractalfract8010023 crossref_primary_10_1109_ACCESS_2024_3365542 crossref_primary_10_3390_sym16101392 crossref_primary_10_1016_j_aei_2025_103116 crossref_primary_10_1016_j_oceaneng_2024_119272 crossref_primary_10_3390_jmse12101827 |
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| Keywords | Dynamic obstacle avoidance Adaptive model predictive control Trajectory tracking Event-triggered |
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| SubjectTerms | Adaptive model predictive control Dynamic obstacle avoidance Event-triggered Trajectory tracking |
| Title | Dynamic obstacle avoidance of unmanned ship based on event-triggered adaptive nonlinear model predictive control |
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