Model Predictive Control-Based Collision Avoidance for Autonomous Surface Vehicles in Congested Inland Waters

Table 2

Parameters of the improved collision avoidance algorithm based on MPC.

Parameter	Value	Parameter	Value
L	5 m		30 m
N	20		20 m
T	0.1 s		30 m
	[0.3, 0.1] m/s		30 m
Kp	0.15		(2π/9) rad
Ku	0.7		4 m/s
Kr	0.2		0 rad/s
	14		[2, 7.8] m/s
Koi	0.001		[−π/30, π/30] rad/s
	500	∆umax	1 m/s^2
	500	∆rmax	(π/30) rad/s^2
	60 m		[0, 160] m
	30 m		[0, 120] m