Perception-aware online trajectory generation for a prescribed manoeuvre of unmanned surface vehicle in cluttered unstructured environment

This paper proposes a perception-aware online trajectory generation system that facilitates prescribed manoeuvres of an unmanned surface vehicle (USV) in a dynamic unstructured environment. The proposed system is developed based on the principles of the inverse dynamics in the virtual domain (IDVD) method and an event-triggered receding horizon control (ETRHC) mechanism. This approach transforms the underlying nonconvex constrained optimization problem into a virtual space with a differentially flat dynamics and uses relatively few decision variables to prototype feasible quasi-optimal trajectories. The closed-loop configuration is provided by a computationally efficient ETRHC mechanism that uses situational awareness of operating environment to trigger trajectory replanning if/when required. This addresses the challenge of continuously updating a closed-loop trajectory which imposes unnecessary computational burden on a system with the limited onboard resources. To investigate the performance of the proposed trajectory generating system, a dynamic unstructured environment including variable and uncertain no-fly zone areas as well as variable current vector fields are modeled. Further, different operating conditions incorporating the uncertainties of environment and sudden failure on the USV propulsion system are introduced to examine the effectiveness, agility, and robustness of the proposed trajectory generating system. A comparative study with benchmark solutions generated by the hp-adaptive Radau pseudo-spectral method is conducted to provide a detailed statistical analysis of the proposed approach robustness, computational complexity, and effectiveness. The simulation results confirm the effectiveness of the proposed trajectory generator and ability to produce a solution for online realization.