Multi-ASV Motion Planning for Formation Reconfiguration based on Control Barrier Functions. Issue 3 (2022)

• Record Type: Journal Article
• Authors: Xu, Yanping; Liu, Lu; Yin, Yibo; Wang, Dan; Peng, Zhouhua
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 3(2022)
• Page Start: 223
• Page End: 227
• Publication Date: 2022
• Subjects: Autonomous surface vehicles -- motion planning -- formation reconfiguration -- control barrier functions; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.05.039
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses motion planning problem of multiple autonomous surface vehicles (ASVs) for formation reconfiguration subject to static obstacles. The motion planning problem include two objectives. The first objective is to generate feasible control signals toward a goal region considering the vehicle kinematics. The second objective is to avoid collisions with static obstacles in the sea environment, and neighboring ASVs in the group. To address it, a nominal guidance law is designed to achieve the goal reaching task. Control barrier functions are used to enforce the input constraints to avoid collision avoidance. The optimal motion is obtained by solving a quadratic program. Simulation results are given to substantiate the efficacy of the proposed multi-ASV motion planning method for formation reconfiguration missions.