A Path Planning Method for Unmanned Surface Vessels in Dynamic Environment

• Published in: International journal of control, automation, and systems Vol. 22; no. 4; pp. 1324 - 1336
• Main Authors: Yu, Jiabin, Chen, Zhihao, Zhao, Zhiyao, Xu, Jiping, Lu, Yang
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2024; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Control; Engineering; Mechatronics; Nodes; Obstacle avoidance; Ocean currents; Path planning; Regular Papers; Robotics; Sea vessels; 제어계측공학; DWA algorithm; COLREGs; path planning; RRT algorithm; space-varying ocean current

A path planning method for unmanned surface vessels (USV) in dynamic environment is proposed to address the impact of dynamic environments on path planning results and the lack of dynamic obstacle avoidance capabilities. First, the considering ocean current rapidly exploring random tree (RRT*) (COC-...