Zihao Wang
ABSTRACT
The path planning technology is the foundation of Unmanned Surface Vehicle(USV), and is the key to ensure the safety, efficiency and reliability of USV . This paper studies the global path planning technology of USV using the improved A* algorithm. The motion model of the USV is built and simplified under the some feasible assumptions. Then Based on two-dimensional electronic navigational charts and through the feasibility analysis of elements on the ENC.We use Photoshop software for electronic navigational charts classification, and use Matlab coding grid ENC environment model. Then using the improved A* algorithm to plan the optimal path, and evaluating and optimizing the planned path, finally reseting into the Electronic Navigational Chart. According to these steps, this paper realizes the Unmanned Surface Vehicle global path planning. The simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.
- Li Wei, Li Tianwei, Zhang Shangyue, 2012. Development and prospect of surface unmanned craft technology. Ship Electronic Engineering, 41 (4): 4.Google Scholar
- Dong Xiaoming. 2021. An overview of the Marine unmanned equipment system . Harbin Engineering University Press, 1st edition.Google Scholar
- Wang Shuo. Research on Unmanned Boat Path Planning Algorithm based on COLREGs . Harbin Engineering University.Google Scholar
- He Jian. 2017. An AGV Path Planning Algorithm Based on Visual Label. Southeastern University.Google Scholar
- Jia Maoliang. 2018. ENC-based unmanned boat path planning . Tianjin University of Technology.Google Scholar
- Jiang Zhou. Research on the path planning algorithm for water surface drones . Huazhong University of Science and Technology HUST.Google Scholar
Index Terms
- Path Planning Based on Electronic Navigational Charts for USV
Recommendations
A novel learning-based global path planning algorithm for planetary rovers
AbstractAutonomous path planning algorithm is significant to planetary exploration rovers, since relying on commands from Earth will heavily reduce their efficiency of executing exploration missions. In this paper, a novel learning-based ...
Imperialist competitive algorithm optimized artificial neural networks for UCAV global path planning
AbstractUnmanned combat aerial vehicle (UCAV), owing to its potential to perform dangerous, repetitive tasks in remote and hazardous, is very promising for the technological leadership of the nation and essential for improving the security of ...
Global path planning of mobile robots using a memetic algorithm
In this paper, a memetic algorithm for global path planning MAGPP of mobile robots is proposed. MAGPP is a synergy of genetic algorithm GA based global path planning and a local path refinement. Particularly, candidate path solutions are represented as ...
Comments