Collision Avoidance for ASVs

Real-time optimization-based collision avoidance for autonomous surface vessels.

Based on the international RoboBoat competition, real-world applications of ASVs may have to deal with unstructured environments where the ASV has to avoid obstacles while performing a specific task. Hence, collision avoidance strategies are needed to ensure safety of the robot.

2024

  1. Adaptive sliding mode control with nonlinear MPC-based obstacle avoidance using LiDAR for an autonomous surface vehicle under disturbances
    Ivana Collado-Gonzalez, Alejandro Gonzalez-Garcia, Rodolfo Cuan-Urquizo, and 3 more authors
    Ocean Engineering, 2024
    DOI

2022

  1. COLAV.gif
    Path-following and LiDAR-based obstacle avoidance via NMPC for an autonomous surface vehicle
    Alejandro Gonzalez-Garcia, Ivana Collado-Gonzalez, Rodolfo Cuan-Urquizo, and 3 more authors
    Ocean Engineering, 2022
    DOI Video

2021

  1. A Real-Time NMPC Guidance Law and Robust Control for an Autonomous Surface Vehicle
    Ivana Collado-Gonzalez, Alejandro Gonzalez-Garcia, Carlos Sotelo, and 2 more authors
    IFAC-PapersOnLine, 2021
    DOI