A numerical and experimental study on the obstacle collision avoidance system using a 2D LiDAR sensor for an autonomous surface vehicle

초록

In recent years, great efforts have been made to develop unmanned navigation systems for Autonomous Surface Vehicles (ASVs), while further improvements are still required for ASVs operating around obstacles. In this circumstance, this paper presents an Obstacle Collision Avoidance Guidance (OCAG) using obstacle detection with a two-dimensional (2D) LiDAR sensor. After verifying the algorithm of the OCAG in a numerical manoeuvring simulation, the OCAS was embedded in a physical model of a Catamaran-type ASV with a 2D LiDAR sensor. When the ASV sails along with a predefined global path, the LiDAR sensor detects the obstacles, the collision-avoidance actions are determined based on multiple factors including the motion and orientation information of the vehicle, the measured distance and direction information of the obstacles, as well as the types of the obstacles. The proposed OCAG showed good collision-avoidance performances with different obstacle types along the path.

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