TY - JOUR
T1 - Motion Planning for an Unmanned Surface Vehicle with Wind and Current Effects
AU - Gu, Shangding
AU - Zhou, Chunhui
AU - Wen, Yuanqiao
AU - Xiao, Changshi
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2022/3
Y1 - 2022/3
N2 - Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable.
AB - Aiming at the problem that unmanned surface vehicle (USV) motion planning is disturbed by effects of wind and current, a USV motion planning method based on regularization-trajectory cells is proposed. First, a USV motion mathematical model is established while considering the influence of wind and current, and the motion trajectory is analyzed. Second, a regularization-trajectory cell library under the influence of wind and current is constructed, and the influence of wind and current on the weight of the search cost is analyzed. Finally, derived from the regularization-trajectory cell and the search algorithm, a motion planning method for a USV that considers wind and current effects is provided. The experimental results indicate that the motion planning is closer to the actual trajectory of a USV in complex environments and that our method is highly practicable.
KW - effects of wind and current
KW - motion planning
KW - regularization-trajectory cell
KW - unmanned surface vehicle (USV)
UR - http://www.scopus.com/inward/record.url?scp=85127076039&partnerID=8YFLogxK
U2 - 10.3390/jmse10030420
DO - 10.3390/jmse10030420
M3 - Article
AN - SCOPUS:85127076039
SN - 2077-1312
VL - 10
JO - Journal of Marine Science and Engineering
JF - Journal of Marine Science and Engineering
IS - 3
M1 - 420
ER -