Research on near-field obstacle avoidance for unmanned surface vehicle based on heading window

The paper proposes a new kind of near-field reactive obstacle-avoidance method for USV. First, the dynamic window (DW) of USV is calculated according to the kinetic characteristics. Heading window and translational velocity window are obtained by using “divide and conquer” strategy dealing with the dynamic window of USV. At second step, the constraint from obstacles are analyzed by using tangent method, and the excellent navigation angle can be gotten by solving the constraints problem of direction angle, the output rotational velocity of USV can be grasped by navigation angle and heading angle. After then, the translational velocity should be received by the model of translational velocity of USV, which is formed by rotational velocity and the distribution of obstacles. At last, experiments demonstrate that the algorithm is fast, stable and power of suitability, and could satisfy the mission of USV in complicated environment.