Due to certain technical limitations of autonomous underwater vehicle (AUV), they cannot completely perform complex tasks independently. When performing complex tasks, coordination between the remote operated vehicle (ROV) and AUV is required. Therefore, collision avoidance is a key technology to ensure vehicle safety. During collision avoidance, AUV need to understand human intentions, make decisions, and perform the corresponding actions. To solve the problems of human intention uncertainty and random noise interference, an AUV collision avoidance strategy based on a dynamic Bayesian network and stochastic model predictive control (SMPC) is proposed in this paper. First, a dynamic Bayesian network is used to assess the probability of AUV collisions in the system. Then, using the properties of Gaussian distribution and related theorems, the objective function is simplified and transformed into a deterministic model predictive control problem. Finally, the intention-exploration item is added to the objective function to better understand human intention. Through the simulations and experiments in specific scenarios, it is verified that the proposed collision avoidance control strategy can safely and effectively control a hybrid system with the coexistence of ROV and AUV.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Collision Avoidance Based on Stochastic Model Predictive Control in Collaboration Between ROV and AUV


    Contributors:
    Cao, Xiang (author) / Wang, Xuerao (author) / Sun, Changyin (author)


    Publication date :

    2025-07-01


    Size :

    1494824 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Stochastic Model Predictive Control for Collision Avoidance and Landing of Aircraft

    Yuji, Shimizu / Takeshi, Tsuchiya | Springer Verlag | 2019


    Model Predictive Based Formation Control with Collision Avoidance between Prediction Time Steps

    Kon, K. / Fukushima, H. / Matsuno, F. | British Library Online Contents | 2010


    Rule-Based Cooperative Collision Avoidance Using Decentralized Model Predictive Control

    Izadi, Hojjat A. / Gordon, Brandon W. / Zhang, Youmin | AIAA | 2011


    Rule-Based Cooperative Collision Avoidance Using Decentralized Model Predictive Control

    Izadi, H.A. / Gordon, B.W. / Zhang, Y. et al. | British Library Conference Proceedings | 2011


    Emergency collision avoidance maneuver based on nonlinear model predictive control

    Chulho Choi, / Kang, Yeonsik / Seangwock Lee, | IEEE | 2012