Research on Real-time Obstacle Avoidance Algorithm Based on Motion Response Characteristics of Unmanned Surface Vehicle

In order to ensure the safety of unmanned surface vehicle during navigation in complex and dynamic marine environments, it is necessary for USV to possess real-time obstacle avoidance capability while minimizing deviation from the global planned path. However, in practical applications, the obstacle avoidance path planned by classical algorithms often deviates significantly from the global planned path, thereby affecting both the safety and cost-effectiveness of navigation. To address this issue, this paper proposes a real-time obstacle avoidance control algorithm based on the motion response characteristics of USV. The paper first establishes the dynamic model of the USV and simulates its motion response characteristics under different rudder angles, thus creating a database of USV motion characteristics. Based on this database, a real-time obstacle avoidance algorithm is designed. The algorithm calculates, in real-time, the rudder angle and steering position required for the USV to avoid obstacles, as well as the rudder angle and steering position needed for the USV to return to the original global path after successfully avoiding obstacles. Finally, the proposed algorithm based on the motion response characteristics of USV is validated through simulation. The results demonstrate that this algorithm effectively avoids real-time obstacles while maintaining minimal deviation from the original global path during the entire obstacle avoidance process. Consequently, it ensures both safe navigation and cost-effectiveness.