The paper presents a two-layer approach to address the problem of motion planning and control for an underactuated unmanned surface vehicle (USV).
The first layer focuses on the trajectory tracking problem. The authors extend the prescribed performance control (PPC) methodology to handle the underactuation and control input constraints of the USV. PPC ensures that the tracking errors, including the distance and orientation errors, evolve strictly within user-defined performance funnels, even in the presence of uncertain dynamics and disturbances.
The second layer addresses the kinodynamic motion planning problem. The authors formulate an optimization problem to generate smooth, collision-free trajectories that satisfy kinodynamic constraints, such as velocity and acceleration limits. The optimization uses B-splines to represent the desired trajectory, leveraging their properties for efficient collision checking and constraint enforcement.
The proposed algorithm is validated through real-world, open-water experiments on a USV, demonstrating its effectiveness in navigating the vehicle while respecting the imposed performance and safety requirements.
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