Provably Safe Finite-Time Guidance for Marine Vehicles
CoRR(2024)
摘要
We consider a new control strategy for marine navigation, equipped with
finite-time convergence characteristics. We provide mathematical guarantees for
waypoint reaching and obstacle avoidance for different encounter scenarios, by
deriving conditions under which (i) convergence to waypoint and (ii) safe
obstacle avoidance is achieved while (iii) satisfying input constraints. We
propose a predefined-time heading control to enforce ship heading error
convergence and waypoint reaching in finite time. Using this as a building
block, we develop a provably safe algorithm for safe waypoint navigation by
strategically and automatically introducing intermediate virtual waypoints.
Using Imazu problems as benchmarks, we show that the proposed method is better
than other existing strategies such as Velocity Obstacle Avoidance and biased
Line-of-Sight methods, in terms of the safe distance between the ship and the
obstacles, cross track error, control effort, waypoint reaching time and ship
path length.
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