A Stable Local Reactive Obstacle Avoidance Algorithm for High-Speed Unmanned Surface Vehicle

At present, a various of navigation algorithms have been studied for Unmanned surface vehicle (USV), however, most of them just focus on the capacity of obstacle avoidance only, the suitability and stability to the vessel are ignored. In the paper, a novel stable reactive obstacle avoidance alogrithm is propoused for high-speed USV in complicated marine environments. By solving the constrained problem of direction, the best navigation angle of USV can be captured. On the base of best direction angle, the steady-state factor model is founded to produce the guidance angle. After then, according to the navigation angle, heading angle and the distribution of obstacles around of USV the linear velocity model is founded. At last, the performance of the algorithm is verified by simulations, the results show that the proposed algorithm has good capacity in obstacle avoidance, and the stability of USV is enhanced obviously.