Motion planning for an unmanned surface vehicle based on topological position maps

• Published in: Ocean engineering Vol. 198; p. 106798
• Main Authors: Zhou, Chunhui, Gu, Shangding, Wen, Yuanqiao, Du, Zhe, Xiao, Changshi, Huang, Liang, Zhu, Man
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.02.2020
• Subjects: Motion model; Motion planning; Topological position relationships (TPR); Unmanned surface vehicle (USV); Motion planning; Topological position relationships (TPR); Unmanned surface vehicle (USV); Motion model
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2019.106798

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. •A novel method is proposed for USV motion planning based on TPR.•The USV motion planning requirements are taken into account based on the dynamics model of the USV.•USV Motion planning is achieved by combining the TPR and a dynamics model of the USV.