A simulation framework for collision-free trajectory planning and following of autonomous surface vehicles

Abstract

This paper presents a systematic simulation framework for collision avoidance between a moving obstacle and an autonomous surface vehicle (ASV). Considering time-varying trajectory uncertainties of the detected obstacle and the vehicle, a collision-free trajectory is planned for an evasive action of ASV. In order to follow the collision-free trajectory, the control module is designed by the LOS (line-of-sight) and cross-track guidance laws. Simulations are performed to demonstrate the effectiveness of the proposed approach in a simulated environment with the obstacle moving at a constant course and speed.