Huu-Quyen Nguyen

TRAJECTORY TRACKING WITH COLLISION AVOIDANCE FOR AUTONOMOUS SURFACE VESSELS IN DYNAMIC OBSTACLE ENVIRONMENTS USING TRAJECTORY PREDICTION AND ADAPTIVE SLIDING MODE CONTROL

This article proposes an integrated control framework to simultaneously address trajectory tracking and collision avoidance problems for autonomous surface vessels operating in environments with dynamic obstacles. The proposed framework combines a collision-risk assessment mechanism based on the Time to Closest Point o...