The review unmanned surface vehicle path planning: Based on multi-modality constraint

Chunhui Zhou, Shangding Gu, Yuanqiao Wen*, Zhe Du, Changshi Xiao, Liang Huang, Man Zhu

*Corresponding author for this work

Research output: Contribution to journalReview articleScientificpeer-review

41 Citations (Scopus)


The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality constraint. The path planning of multi-modality constraint research can be classified into three stages in terms of its basic ingredients (such as shape, kinematics and dynamics et al.): Route Planning, Trajectory Planning and Motion Planning. It then reviews the research methods and classical algorithms, especially those applied to the Unmanned Surface Vehicle (USV) in every stage. Finally, the paper points out some existing problems in every stage and suggestions for future research.

Original languageEnglish
Article number107043
Number of pages14
JournalOcean Engineering
Publication statusPublished - 2020
Externally publishedYes


  • Motion planning
  • Multi-modality constraint
  • Path planning
  • Route planning
  • Trajectory planning
  • Unmanned surface vehicle (USV)


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