TY - JOUR
T1 - Motion planning for an unmanned surface vehicle based on topological position maps
AU - Zhou, Chunhui
AU - Gu, Shangding
AU - Wen, Yuanqiao
AU - Du, Zhe
AU - Xiao, Changshi
AU - Huang, Liang
AU - Zhu, Man
PY - 2020
Y1 - 2020
N2 - This paper investigates the motion-planning problem for an unmanned surface vehicle (USV), in which the goal is to find the shortest search time, the shortest path in navigational waters, all subject to collision avoidance and USV dynamics constraints. A new motion-planning method is proposed, based on topological position relationships (TPR), to achieve this solution. Firstly, the TPR of the obstacles and the USV are constructed, based on the spatial distribution of the obstacles. This gives an overall topological navigation map, which is different from the usual grid-based map. Secondly, a numerical model of unit decomposition is built to constrain the dynamics of the USV, so that the motion of the USV better fits the exact situation. Motion planning in this study is achieved by combining the topological navigation map and a numerical model of the USV. Finally, Numerical simulations and field tests verify the effectiveness of our formulated model and proposed algorithm.
AB - This paper investigates the motion-planning problem for an unmanned surface vehicle (USV), in which the goal is to find the shortest search time, the shortest path in navigational waters, all subject to collision avoidance and USV dynamics constraints. A new motion-planning method is proposed, based on topological position relationships (TPR), to achieve this solution. Firstly, the TPR of the obstacles and the USV are constructed, based on the spatial distribution of the obstacles. This gives an overall topological navigation map, which is different from the usual grid-based map. Secondly, a numerical model of unit decomposition is built to constrain the dynamics of the USV, so that the motion of the USV better fits the exact situation. Motion planning in this study is achieved by combining the topological navigation map and a numerical model of the USV. Finally, Numerical simulations and field tests verify the effectiveness of our formulated model and proposed algorithm.
KW - Motion model
KW - Motion planning
KW - Topological position relationships (TPR)
KW - Unmanned surface vehicle (USV)
UR - http://www.scopus.com/inward/record.url?scp=85078217919&partnerID=8YFLogxK
U2 - 10.1016/j.oceaneng.2019.106798
DO - 10.1016/j.oceaneng.2019.106798
M3 - Article
AN - SCOPUS:85078217919
SN - 0029-8018
VL - 198
JO - Ocean Engineering
JF - Ocean Engineering
M1 - 106798
ER -