TY - JOUR
T1 - Dynamic trajectory planning for unmanned ship under multi-object environment
AU - Li, Mengxia
AU - Mou, Junmin
AU - He, Yixiong
AU - Zhang, Xiaohan
AU - Xie, Qinqiong
AU - Chen, Pengfei
PY - 2021
Y1 - 2021
N2 - Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.
AB - Trajectory planning is one of the important technologies to ensure the safe navigation of the unmanned ship. This paper presents a dynamic path planning method based on the multi-layer Morphin adaptive search tree algorithm, which considers ship maneuverability, COLREGS, and good seamanship to harmonize the actions in the mixed traffic environment. First, the environment model is built according to the environment information of the rolling window; second, the feasible avoidance range of collision avoidance is calculated according to the velocity obstacle (VO) method. Finally, path optimization is carried out using the Morphin adaptive search tree algorithm. Through a case study and comparison with traditional artificial potential field (APF) models, the applicability and potential of the method are verified. This model can be applied to the autonomous navigation for unmanned ships as well as conventional manned ships and demonstrate good potential in smart shipping.
KW - Collision avoidance
KW - Maneuverability, COLREGS
KW - Morphin algorithm
KW - Multi-object
KW - Trajectory planning
KW - Unmanned ship
UR - http://www.scopus.com/inward/record.url?scp=85105882975&partnerID=8YFLogxK
U2 - 10.1007/s00773-021-00825-x
DO - 10.1007/s00773-021-00825-x
M3 - Article
AN - SCOPUS:85105882975
SN - 0948-4280
VL - 27
SP - 173
EP - 185
JO - Journal of Marine Science and Technology (Japan)
JF - Journal of Marine Science and Technology (Japan)
IS - 1
ER -