Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots
Weimin Qi Qinbo Sun Chongfeng Liu Xiaoqiang Ji Zhongzhong Cao Yiwen Liang Huihuan Qian Weimin Qi Qinbo Sun Chongfeng Liu Xiaoqiang Ji Zhongzhong Cao Yiwen Liang Huihuan Qian
Obstacle avoidance is crucial for autonomous surface vehicles (ASVs) in the sea because rescue is extremely difficult there. OceanVoy, a sailboat toward long range energy-saving voyage, has to overcome the dual challenges, i.e. from the environmental interference and its low mobility preventing from precise obstacle avoidance. We propose a control scheme based on real-time collision risk assessmen...