A motion planning method for unmanned surface vehicle in restricted waters

Shangding Gu, Chunhui Zhou, Yuanqiao Wen, Xi Zhong, Man Zhu, Changshi Xiao, Zhe Du

Research output: Contribution to journalArticleScientificpeer-review

Abstract

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.

Original languageEnglish
Number of pages14
JournalProceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment
DOIs
Publication statusPublished - 2020
Externally publishedYes

Keywords

  • label-A* algorithm
  • motion planning
  • restricted waters
  • Unmanned surface vehicle

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