用安全控制滤波器实现异构无人船队避碰，兼顾效率与鲁棒性。
Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
- 为每艘船添加基于CBF的分布式安全滤波器，假设其他船为最坏情况
- 仿真与实测均证明组合使用CBF与COLREGS效果最优，避碰率100%
- 适用于不同平台且对人为不合作行为仍有效，适合真实海况部署
异构无人船队的碰撞规避面临挑战，因各平台决策机制与控制器差异大，且实时共享轨迹和控制值受限。本文提出一种实用方法，在每艘自主船端增加一个控制滤波器，假设其他目标（包括载人船）采取最坏行为。该分布式安全控制滤波器基于控制屏障函数（Control Barrier Function, CBF）理论设计，并确保方法可解释性。通过模拟遭遇场景对比了最坏情况下的CBF方法与基于航行规则（COLREGS）的行为方法。在三艘不同型号无人船与一艘有人船的真实实验中验证了该方法在多种平台间的有效性及对非合作人类操作者的鲁棒性。结果表明，结合两种CBF方法与COLREGS行为可实现最佳安全性与效率。
原文摘要 · Abstract (English)
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories and control values in real-time. This paper presents a pragmatic approach that addresses these issues by adding a control filter on each autonomous vehicle that assumes worst-case behavior from other contacts, including crewed vessels. This distributed safety control filter is developed using control barrier function (CBF) theory and the application is clearly described to ensure explainability of these safety-critical methods. This work compares the worst-case CBF approach with a Collision Regulations (COLREGS) behavior-based approach in simulated encounters. Real-world experiments with three different uncrewed vessels and a human operated vessel were performed to confirm the approach is effective across a range of platforms and is robust to uncooperative behavior from human operators. Results show that combining both CBF methods and COLREGS behaviors achieves the best safety and efficiency.
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