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HEDJAR Ramdane

Professor

Faculty member, Department of Computer Engineering

علوم الحاسب والمعلومات
Building 31, P.O.Box 51178, Riyadh 11543, KSA
المنشورات
مقال فى مجلة
2019
تم النشر فى:

An Automatic Collision Avoidance Algorithm for Multiple Marine Surface Vehicles,

Bounkhel, R Hedjar, M . 2019

In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.

نوع عمل المنشور
Research
رقم المجلد
29
رقم الانشاء
4
مجلة/صحيفة
International Journal of Applied Mathematics and Computer Science
الصفحات
759-768
مزيد من المنشورات
publications

Localizing the mobile robot in an indoor environment is one of the problems encountered repeatedly. Achieving the target precisely in any environment is not an easy task since there are noises and…

بواسطة • Eman A. and R. Hedjar,
2020
publications

The quadrotor often flies in an environment where external disturbances can occur and decrease its tracking performances. Hence, the robustness and effectiveness of nonlinear controllers are…

بواسطة • Meradi Dounia, Benselama Zoubir, and Ramdane Hedjar
2020
publications

In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship accidents have increased.

بواسطة R Hedjar, M Bounkhel
2019