Elliptical Obstacle Avoidance Guidance for Underactuated Unmanned Underwater Vehicle Based on Control Barrier Function

doi:10.12382/bgxb.2024.0404

Abstract

Abstract:

In order to ensure the safety of unmanned underwater vehicle (UUV) when performing the complex tasks such as coastline patrol, collision avoidance of large vessels, and traversing dense islands and reefs, an elliptical modeling obstacle avoidance method based on control barrier function (CBF) is proposed. A control barrier function containing the heading angle constraints is designed on the basis of elliptical modeling obstacles, a quadratic programming (QP) problem with constraints is constructed, and a closed-form obstacle avoidance guidance law is proposed by combining with the guidance law in obstacle-free environment. The simulated results verify the effectiveness of the proposed method, which globally satisfies the safety and stability requirements. The proposed method has practical application value for the safe navigation of unmanned underwater vehicle in complex marine environment.

Key words: underactuated unmanned underwater vehicle, control barrier function, elliptical obstacle, obstacle avoidance, guidance law, quadratic programming

CLC Number:

YE Wenbo, FANG Yangwang, HONG Ruiyang, HU Qidong. Elliptical Obstacle Avoidance Guidance for Underactuated Unmanned Underwater Vehicle Based on Control Barrier Function[J]. Acta Armamentarii, 2025, 46(5): 240404-.

Figures/Tables 17

Fig.1 Elliptical modeling of obstacles

Fig.2 Guidance objective

Fig.3 Coordinate system and elliptical modeling of obstacles

Fig.4 Tangent angle at time t

Fig.5 Comparison of obstacle avoidance trajectories

Fig.6 Comparison of guidance inputs with different parameters

Fig.7 Comparison of obstacle avoidance constraints h(x)

Fig.8 Comparison of obstacle avoidance trajectories

Fig.9 Obstacle avoidance trajectory for multiple obstacles

Fig.10 Guidance input for multiple obstacles

Fig.11 Obstacle avoidance constraints for multiple obstacles

Fig.12 Obstacle avoidance trajectories with different parameters

Fig.13 Guidance inputs with different parameters

Fig.14 Obstacle avoidance constraints with different parameters

Fig.15 Comparison of trajectories for different obstacle avoidance methods

Fig.16 Comparison of guidance inputs u for different obstacle avoidance methods

Fig.17 Comparison of guidance inputs r for different obstacle avoidance methods

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