A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres

Annual Reviews in Control

Volumn 36, Issue 2, 2012, Pages 267-283

  Campbell, S ^a   Naeem, W ^a   Irwin, G W ^a  

^a QUEEN'S UNIVERSITY BELFAST   (United Kingdom)

Author keywords

Autonomy; Collision avoidance; COLREGs; Guidance; Motion planning; USVs

Indexed keywords

COLLISION AVOIDANCE; ELECTRONIC GUIDANCE SYSTEMS; LAWS AND LEGISLATION; MARINE APPLICATIONS; MARINE NAVIGATION; MILITARY APPLICATIONS; MILITARY VEHICLES; MOTION PLANNING; UNMANNED VEHICLES;

AUTONOMY; COLLISION AVOIDANCE MANOEUVRES; COLREGS; GROWTH IN DEMANDS; INTERNATIONAL REGULATIONS; LEVEL OF AUTONOMIES; MARITIME ACCIDENTS; USVS;

UNMANNED SURFACE VEHICLES;

EID: 84869083536     PISSN: 13675788     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.arcontrol.2012.09.008     Document Type: Article

References (85)

1. Aguiar, A. P., Cremean, L., & Hespanha, J. P. (2003). Position tracking for a nonlinear underactuated hovercraft: Controller design and experimental results. In Proceedings of the 42nd IEEE conference on decision and control (Vol. 4, pp. 3858-3863).
2. Alves, J., Oliveira, P., Oliveira, R., Pascoal, A., Rufino, M., & Sebastiao, L., et al. (2006) Vehicle and mission control of the DELFIM autonomous surface craft. In MED '06. Proceesings of the 14th Mediterranean Conference on Control and Automation (pp. 1-6).
3. T. Balch, and R. Arkin Behavior-based formation control for multirobot teams IEEE Transactions on Robotics and Automation 14 6 1998 926 939
4. Benjamin, M. R., & Curcio, J. A. (2004). COLREGS-based navigation of autonomous marine vehicles. In Autonomous Underwater Vehicles, IEEE/OES (pp. 32-39).
5. M. Benjamin, J. Leonard, J. Curcio, and P. Newman A method for protocol-based collision avoidance between autonomous marine surface craft Journal of Field Robotics 23 5 2006 333 346
6. E. Berglund Guidance and control technology RTO SCI Lecture Series on Technologies for Future Precision Strike Missile Systems 2000 1 10
7. Bertram, V. (2008). Unmanned surface vehicles - a survey, Tech. rep., Skibsteknisk Selskab.
8. Bibuli, M., Bruzzone, G., Caccia, M., Indiveri, G., & Zizzari, A. A. (2008). Line following guidance control: Application to the Charlie unmanned surface vehicle. In IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '08 (pp. 3641-3646).
9. A. Botea, M. Muller, and J. Schaeffer Near optimal hierarchical path-finding Journal of Game Development 2004 7 28
10. Breivik, M., & Fossen, T. I. (2008). Guidance laws for planar motion control. In Proceedings of the 47th IEEE conference on decision and control. CDC '08 (pp. 570-577).
11. Brock, O., & Khatib, O. (1999). High-speed navigation using the global dynamic window approach. In Proceedings of the 1999 IEEE International Conference on Robotics and Automation. (Vol. 1, pp. 341-346).
12. D. Brown The last log of the titanic 2000 McGraw-Hill International Marine
13. Caccia, M. (2006). Autonomous surface craft: Prototypes and basic research issues. In Proceedings of the 14th mediterranean conference on control and automation. MED '06 (pp. 1-6).
14. Casalino, G., Turetta, A., & Simetti, E. (2009). A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields. In: OCEANS 2009 - EUROPE (pp. 1-8).
15. Casalino, G., Turetta, A., & Simetti, E. (2009). A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields. In OCEANS 2009 - EUROPE (pp. 1 -8).
16. U.G.C. Commandant. (1999). International Regulations for Prevention of Collisions at Sea, 1972 (72 COLREGS).
17. S.J. Corfield, and J.M. Young Unmanned surface vehicles - game changing technology for naval operations, advances in unmanned marine vehicles, chap. 15 2006 The Institution of Electrical Engineers Stevenage, UK p. 311
18. Daily, R., & Bevly, D. M. (2008). Harmonic potential field path planning for high speed vehicles. In American Control Conference (pp. 4609-4614).
19. E.W. Dijkstra A note on two problems in connexion with graphs Numerische Mathematik 1 1 1959 269
20. J.M. Doyle Insatiable hunger, tightening belts Unmanned Systems 29 4 2011 25
21. L.E. Dubins On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents American Journal of Mathematics 79 3 1957 497 516
22. R.T. Farouki, and T. Sakkalis Pythagorean hodographs IBM Journal of Research and Development 34 5 1990 736 752
23. Ferguson, D., Likhachev, M., & Stentz, A. (2005). A guide to heuristic-based path planning. In: Proceedings of the workshop on planning under uncertainty for autonomous systems at the international conference on automated planning and scheduling.
24. Fleury, S., Soueres, P., Laumond, J. -P., & Chatila, R. (1993). Primitives for smoothing mobile robot trajectories. In Proceedings of the 1993 IEEE international conference on robotics and automation (Vol. 1, pp. 832-839).
25. Fossen, T. I. (2000). A survey on nonlinear ship control: From theory to practise.
26. T.I. Fossen Handbook of marine craft hydrodynamics and motion control 2011 John Wiley and Sons Ltd. West Sussex, U.K.
27. Guzman, D. D., Dellosa, S., Inventado, P., Lao, P., & Suarez, M. (2005). A path planning in real-time dynamic environments (pp. 186-189). Philippines.
28. P.E. Hart, N.J. Nilsson, and B. Raphael A formal basis for the heuristic determination of minimum cost paths IEEE Transactions on Systems Science and Cybernetics. 4 2 1968 100 107
29. Hernández, E., Carreras, M., Ridao, P., Antich, J., & Ortiz, A., A search-based path planning algorithm with topological constraints: Application to an auv. In 18th IFAC world congress 2011, Milan (Italy) (Vol. 18).
30. Hong Qu, Y., Pan, Q., & Guo Yan, J. (2005). Flight path planning of UAV based on heuristically search and genetic algorithms. In Proceedings of the 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON '05 (p. 5).
31. International convention for the Safety of Life at Sea (SOLAS), (1974/1980). Chapter V safety of navigation, regulation 19. International Matitime Organization.
32. Kanakakis, V., & Tsourveloudis, N. (2007). Evolutionary path planning and navigation of autonomous underwater vehicles. In Mediterranean Conference on Control and Automation. MED '07 (pp. 1-6).
33. Karmarkar, J., & Vargus, R. (1980). A multi-threat avoidance maneuver generator. In OCEANS '80 (pp. 187-192).
34. Khatib, O. (1985). Real-time obstacle avoidance for manipulators and mobile robots. In Proceedings of the 1985 IEEE international conference on robotics and automation (Vol. 2, pp. 500-505).
35. O. Khatib Real-time obstacle avoidance for manipulators and mobile robots International Journal on Robotics Research 5 1 1986 90 98
36. S. Koenig, and M. Likhachev Fast replanning for navigation in unknown terrain IEEE Transactions on Robotics 21 3 2005 354 363
37. Larson, J., Bruch, M., & Ebken, J. (2006). Autonomous navigation and obstacle avoidance for unmanned surface vehicles. In SPIE proceedings 6230: Unmanned systems technology VIII (pp. 17-20).
38. Larson, J., Bruch, M., Halterman, R., Rogers, J., & Webster, R. (2006). Autonomous navigation and obstacle avoidance for unmanned surface vehicles. AUVSI Unmanned Systems North America.
39. E. Leacock The Exxon Valdez oil spill, environmental disasters 2005 Facts on File, Inc.
40. S.-M. Lee, K.-Y. Kwon, and J. Joh A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREGS guidelines International Journal of Control, Automation, and Systems 2 2 2004 171 181
41. E. Lefeber, K.Y. Pettersen, and H. Nijmeijer Tracking control of an underactuated ship IEEE Transactions on Control Systems Technology 11 1 2003 52 61
42. Leigh, R., Louis, S. J., & Miles, C. (2007). Using a genetic algorithm to explore A-like pathfinding algorithms. In IEEE symposium on computational intelligence and games, CIG '07 (pp. 72-79).
43. Li, S., Sun, X., & Xu, Y. (2006). Particle swarm optimization for route planning of unmanned aerial vehicles. In IEEE International Conference on Information Acquisition (pp. 1213-1218).
44. Likhachev, M., & Koenig, S. (2005). Framework for lifelong planning A.
45. Likhachev, M., Ferguson, D., Gordon, G., Stentz, A., & Thrun, S., (2005). Anytime dynamic A: An anytime, replanning algorithm.
46. Liu, Y. -H., & Shi, C. -J. (2005). A fuzzy-neural inference network for ship collision avoidance. In Proceedings of 2005 international conference on machine learning and cybernetics (Vol. 8, pp. 4754-4759).
47. Majohr, J., Buch, T., & Korte, C., (2000). Navigation and automatic control of the measuring dolphin (MESSIN). In 5th IFAC Conference on Manoeuvring and Control of Marine Craft, 2000. MCMC '00 (pp. 405-410). Aalborg, Denmark.
48. Marine and Industrial Dynamic Analysis Research Group, (June 2007). Springer, an unmanned surface vehicle for environmental monitoring. < http://www.tech.plymouth.ac.uk/sme/springerusv/photosarchive.htm >.
49. N. Minorsky Directional stability of automatically steered bodies Journal of the American Society for Naval Engineers 34 2 1922 280 309
50. Mooney, D. (December 2009). Metric path planning, robotics notes. < http://clipper.ship.edu/djmoon/robotics/robotics-notes.html >.
51. R.M. Murray Recent research in cooperative control of multivehicle systems Journal of Dynamic Systems, Measurement and Control 129 5 2007 571 583
52. Naeem, W., Sutton, R., & Ahmad, S. M. (2003). LQG/LTR control of an autonomous underwater vehicle using a hybrid guidance law. International Federation on Automatic Control Journal.
53. Naeem, W., Sutton, R., & Chudley, J. (2007). Soft computing design of a linear quadratic gaussian controller for an unmanned surface vehicle. In Proceedings of 14th mediterranean conference on control and automation.
54. Naeem, W., Sutton, R., & Chudley, J. (2006). Modelling and control of an unmanned surface vehicle for environmental monitoring. In UKACC International Control Conference. University of Strathclyde.
55. W. Naeem, R. Sutton, S.M. Ahmad, and R.S. Burns A review of guidance laws applicable to unmanned underwater vehicles Journal of Navigation 56 2003 15 29
56. Nguyen, L. A., Le, M. D., Nguyen, S. H., Nguyen, V. T., & Nghiem, T. H. H. (2003). A new and effective fuzzy PID autopilot for ships. In SICE 2003 annual conference (Vol. 3, pp. 2647-2650).
57. Park, J. -H., Kim, S., Doh, N. L., & Park, S. -K. (2008). Vision-based global localization based on a hybrid map representation. In: International Conference on Control, Automation and Systems, ICCAS '08 (pp. 1104-1108).
58. L.P. Perera, J.P. Carvalho, and C.G. Soares Fuzzy logic based decision making system for collision avoidance of ocean navigation under critical collision conditions Journal of Marine Science and Technology 6 1 2010 84 99
59. PROTECTOR, (December 2010). Unmanned naval patrol vehicle. Rafael Advanced Defense Systems Ltd. < http://www.rafael.co.il/Marketing/358-1037- en/Marketing.aspx >.
60. G.N. Roberts Trends in marine control systems Annual Reviews in Control 32 2008 263 269
61. G.N. Roberts, R. Sutton, A. Zirilli, and A. Tiano Intelligent ship autopilots a historical perspective Mechatronics Journal 13 2003 1091 1103
62. Rothblum, A. M. (2000). Human error and marine safety. In US Coastguard Research and Development Centre (pp. 1-10).
63. S.M. Sait, and H. Youssef Combinatorial optimization, iterative computer algorithms with applications in engineering 1999 IEEE Computer Society Press p. 6
64. Saunders, S. (2004). Marine warfare forces, revised edition, jane's fighting ships 2004-2005 (pp. 177-178). Jane's Information Group.
65. Sohn, W. J, Tamba, T. A., Shik Hong, K., & Kwan Kim, R. (2007). Control architecture and obstacle avoidance for acquiring the realtimeness. In International conference on control, automation and systems. ICCAS '07 (pp. 212-217).
66. T. Statheros, G. Howells, and K. McDonald-Maier Autonomous ship collision avoidance navigation concepts, technologies and techniques The Journal of Navigation 61 1 2008 129 142
67. A. Stentz The focussed D algorithm for real-time replanning International Joint Conference on Artificial Intelligence 1995 1652
68. B. Strauch Investigating human error: incidents, accidents, and complex systems 2004 Ashgate Publishing Limited
69. Sullivan, J., Waydo, S., & Campbell, M. (2003). Using stream functions for complex behavior and path generation, In Accepted: AIAA guidance, navigation, and control conference.
70. C. Tam, R. Bucknall, and A. Greig Review of collision avoidance and path planning methods for ships in close range encounters The Journal of Navigation 62 03 2009 455 476
71. Tan, C. S. (January 2006). A collision avoidance system for autonomous underwater vehicles, Ph.D. thesis, Faculty of Technology, School of Engineering. The University of Plymouth.
72. Tan, A., Wong, C. W., & Tan, T. J. (2010). Criteria and rule based obstacle avoidance for USVs. In International Waterside Security Conference (WSS) (pp. 1-6).
73. M.-C. Tsou, and C.-K. Hseuh The study of ship collision avoidance route planning by ant colony algorithm Journal of Marine Science and Technology 18 5 2010 746 756
74. United States Navy (2007). The Navy Unmanned Surface Vehicle (USV) Master Plan, (23 July). United States Navy, Distribution Unlimited.
75. Vanni, F., Aguiar, A., & Pascoal, A. (2008). Cooperative path-following of underactuated autonomous marine vehicles with logic-based communication.
76. J. Velagic, Z. Vukic, and E. Omerdic Adaptive fuzzy ship autopilot for track-keeping Control Engineering Practice 11 4 2003 433 443
77. Wave glider concept. Liquid Robotics (December 2010). < http://www.liquidr.com >.
78. Wooden, D., Malchano, M., Blankespoor, K., Howardy, A., Rizzi, A., & Raibert, M. (2010). Autonomous navigation for BigDog. In 2010 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4736-4741).
79. Wu, G., Sun, H., Zou, J., & Wan, L. (2009). The basic motion control strategy for the water-jet-propelled usv. In International conference on mechatronics and automation. ICMA '09 (pp. 611-616).
80. Y. Xue, B. Lee, and D. Han Automatic collision avoidance of ships Journal of Engineering for the Maritime Environment. Institution of Mechanical Engineers 1 1 2009 33 46
81. A. Yang, Q. Niu, W. Zhao, K. Li, and G. Irwin An efficient algorithm for grid-based robotic path planning based on priority sorting of direction vectors K. Li, M. Fei, L. Jia, G. Irwin, Life system modeling and intelligent computing Lecture notes in computer science Vol. 6329 2010 Springer Berlin/Heidelberg 456 466
82. X.J. Yang, and X.R. Zhao Self-organizing neural-net control of ship's horizontal motion Journal of Physics: Conference Series 48 2006 12841288
83. Zeng, B., Yang, Y., & Xu, Y. (2009). Mobile robot navigation in unknown dynamic environment based on ant colony algorithm. In: WRI Global Congress on Intelligent Systems. GCIS '09 (Vol. 3, pp. 98-102).
84. Zhou, Y, Pan, W, & Xiao, H. (2010). Design of ship course controller based on fuzzy adaptive active disturbance rejection technique. In Proceedings of the 2010 IEEE international conference on automation and logistics (pp. 232-236).
85. S. Zilberstein, and S. Russell Approximate reasoning using anytime algorithms, imprecise and approximate computation (The Springer International Series in Engineering and Computer Science) 1995 Kluwer Academic Dordrecht, Netherlands pp. 262-271