TY - JOUR
T1 - A motion planning method for unmanned surface vehicle in restricted waters
AU - Gu, Shangding
AU - Zhou, Chunhui
AU - Wen, Yuanqiao
AU - Zhong, Xi
AU - Zhu, Man
AU - Xiao, Changshi
AU - Du, Zhe
PY - 2020
Y1 - 2020
N2 - The maneuvering characteristics of the unmanned surface vehicle itself are very important to motion planning due to the limited water scale area. If the size, motion state, and maneuvering characteristics of the unmanned surface vehicle are not considered, the shortest path obtained is actually not feasible in the restricted waters. In this article, the widely used A* algorithm is improved by accounting for the maneuvering characteristics of the unmanned surface vehicle, named as the Label-A* Algorithm, which is further employed to fix the problem related to the motion planning for the unmanned surface vehicle in restricted waters. The solution to the motion planning mainly contains three stages. First, the unmanned surface vehicle trajectory unit library is established based on its maneuvering characteristics; second, an improved label-A* Algorithm is constructed, and the unmanned surface vehicle motion planning method is proposed with the trajectory unit, which is suitable for the restricted waters; Finally, numerical simulations and filed tests are designed to verify the formulated model and proposed algorithm. The motion planning method can simultaneously meet the state constraints, maneuvering characteristics constraints, and water scale constraints of unmanned surface vehicle.
AB - The maneuvering characteristics of the unmanned surface vehicle itself are very important to motion planning due to the limited water scale area. If the size, motion state, and maneuvering characteristics of the unmanned surface vehicle are not considered, the shortest path obtained is actually not feasible in the restricted waters. In this article, the widely used A* algorithm is improved by accounting for the maneuvering characteristics of the unmanned surface vehicle, named as the Label-A* Algorithm, which is further employed to fix the problem related to the motion planning for the unmanned surface vehicle in restricted waters. The solution to the motion planning mainly contains three stages. First, the unmanned surface vehicle trajectory unit library is established based on its maneuvering characteristics; second, an improved label-A* Algorithm is constructed, and the unmanned surface vehicle motion planning method is proposed with the trajectory unit, which is suitable for the restricted waters; Finally, numerical simulations and filed tests are designed to verify the formulated model and proposed algorithm. The motion planning method can simultaneously meet the state constraints, maneuvering characteristics constraints, and water scale constraints of unmanned surface vehicle.
KW - label-A algorithm
KW - motion planning
KW - restricted waters
KW - Unmanned surface vehicle
UR - http://www.scopus.com/inward/record.url?scp=85079444670&partnerID=8YFLogxK
U2 - 10.1177/1475090219898566
DO - 10.1177/1475090219898566
M3 - Article
AN - SCOPUS:85079444670
SN - 1475-0902
JO - Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment
JF - Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment
ER -